Unmanned aerial vehicle task allocation planning method

Abstract

The invention discloses an unmanned aerial vehicle task allocation planning method, which mainly solves the problems of large communication consumption and time delay during task allocation in the prior art. According to the scheme, when a new task P needs to be executed in a task execution process of an unmanned aerial vehicle, the task allocation is divided into two stages of pre-allocation andnegotiation; in the pre-distribution stage, a satisfaction set phi P capable of executing the task is selected by a center node according to an individual satisfaction function and an individual rejection function, and whether phi P is empty is judged; if the phi P is not empty, the most suitable unmanned aerial vehicle is selected from an unmanned aerial vehicle set meeting conditions through mutual negotiation to execute the task P; and if the phi P is empty, multiple unmanned aerial vehicles are combined to jointly execute the same task. According to the invention, the calculation time of the central node is reduced, the real-time dynamic allocation of tasks and the load balance of unmanned aerial vehicle tasks are ensured, the overall performance of task execution of the unmanned aerial vehicle is improved, and the method can be applied to a scene of real-time allocation of various unmanned aerial vehicles.

Description

technical field [0001] The invention belongs to the technical field of wireless communication, and in particular relates to a task allocation method, which can be used in real-time task allocation scenarios of unmanned aerial vehicles. Background technique [0002] Multi-UAV task allocation means that dynamic task allocation can be regarded as selecting the appropriate UAV to complete the task at different times. There are mainly two ways of UAV task assignment: centralized and distributed. Centralization refers to a system structure in which all UAVs in the formation communicate through a single control center to realize signal transmission and control. All UAVs in the formation transmit the external information they collect and their own status information to the control center, and then the control center classifies, fuses, analyzes and makes decisions on these information, and forms new control instructions, which are then sent to the formation. Unmanned aerial vehicle...

AI Technical Summary

Problems solved by technology

However, this method is only suitable for scenarios where the task is already clear before assignment. In the actual environment, some unexpected tasks may be faced, and this method cannot solve the problem of real-time task assignment very well.

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