Unmanned aerial vehicle task allocation planning method

A technology of task allocation and unmanned aerial vehicles, which is applied in the field of wireless communication, can solve problems such as real-time task allocation that cannot be solved well, and achieve the effects of ensuring real-time execution, reducing consumption, improving quality and success rate

Active Publication Date: 2020-05-26
XIDIAN UNIV
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  • Abstract
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  • Application Information

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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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  • Unmanned aerial vehicle task allocation planning method

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0030] The method of the present invention is applicable to the scene where a heterogeneous multi-type unmanned aerial vehicle cluster needs to be allocated to the unmanned aerial vehicles in the cluster in real time when a new sudden task is detected during the multi-task execution process.

[0031] refer to figure 1 , the implementation steps of the present invention are as follows:

[0032] Step 1: Set prerequisites.

[0033] Suppose there is a UAV set U=...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/06G06Q50/30
CPCG06Q10/06312G06Q10/06316G06Q50/30Y02T10/40
Inventor 史琰杜晓凯盛敏刘俊宇白卫岗周笛
Owner XIDIAN UNIV
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