Unmanned aerial vehicle cluster dynamic task allocation method simulating wolf pack cooperative hunting mechanism

Abstract

The invention discloses an unmanned aerial vehicle cluster dynamic task allocation method imitating a wolf pack cooperative hunting mechanism. The method comprises the steps of 1, initializing battlefield environment setting; 2, executing a reconnaissance/strike/lead task; 3, performing attack formation pre-allocation based on a hunting stress mechanism; 4, performing first wolf/fierce wolf task allocation based on a hunting energy balance model; 5, updating a reconnaissance environment map; step 6, performing wolf detection task allocation based on an environmental stress mechanism; and step7, conducting wolf pack moving path planning. The method is oriented to an unmanned aerial vehicle cluster investigation and attack integrated cooperative combat application background in an uncertainenvironment, a distributed task allocation architecture which supports task load balance and decentralization and has task evolution characteristics is provided, and the task execution efficiency andthe autonomous ability level of the unmanned aerial vehicle cluster are further improved on the basis of reducing the design cost and improving the long-term robust decision-making ability.

Description

technical field [0001] The invention relates to a dynamic task allocation method of a UAV cluster imitating a cooperative hunting mechanism of wolves, and belongs to the field of autonomous control of UAVs. Background technique [0002] The integrated reconnaissance and attack UAV is an important direction for the development of UAVs in the future. It can be widely used in military and civilian tasks such as border patrols, communication relays, theater reconnaissance, combat effectiveness assessment, and anti-terrorism operations. The U.S. "Predator" series of unmanned aerial vehicles has shortened the time from finding targets to precise strikes due to its integrated design of reconnaissance and attack, improved the timeliness of reconnaissance information and the accuracy of target attacks, and achieved multiple "point-clearing" drones. "A major victory. However, in an increasingly complex battlefield environment, relying on a single UAV to perform reconnaissance-strike ...

AI Technical Summary

Problems solved by technology

The present invention learns from the energy balance and division of labor evolution mechanism of wolves' cooperative hunting, and proposes a dynamic task allocation method for UAV clusters oriented to the integrated combat of reconnaissance and attack, aiming to solve the problem of resource balance and resource balance of UAV clusters in uncertain environments. Efficient Decision Problems

Images