Heterogeneous unmanned aerial vehicle task allocation method for emergency scene with non-uniform task distribution

Abstract

The invention belongs to the technical field of swarm intelligence, multi-agent and combinatorial optimization, and particularly relates to a heterogeneous unmanned aerial vehicle task allocation method for an emergency scene with non-uniform task distribution. The method aims at solving the problems that an existing unmanned aerial vehicle task allocation method is low in task allocation efficiency and poor in task completion quality under the intersection conditions of urgency and non-uniform task space distribution. The method comprises the following steps: counting environment information of a current area and task information to be distributed; calculating an aggregation threshold value between tasks in the current area, and creating an accessed list and a list to be adjusted; packaging the task information, the aggregation threshold and the created list into a token, and sending the token to an unmanned aerial vehicle group; obtaining the quality of the distributed task; if the quality is 1, carrying out task aggregation processing; otherwise, marking the distributed task as a to-be-adjusted task; and distributing the to-be-adjusted task. According to the invention, the task allocation efficiency and task completion quality of the unmanned aerial vehicle under the emergency and non-uniform cross condition of task space distribution are improved.

Description

technical field [0001] The invention belongs to the technical field of swarm intelligence, multi-agents, and combination optimization, and specifically relates to a heterogeneous unmanned aerial vehicle task assignment method, system, and equipment for emergency scenarios with uneven task distribution. Background technique [0002] Natural disaster relief, military strikes, and urban emergency handling are all common but very important events. The common denominator of such events is urgency and uncertainty, often requiring the response system to handle them as quickly as possible. Task assignment is a key step in the disaster rescue process, and improving assignment efficiency is the key to improving system response speed. In addition, drones have been increasingly used to perform emergency tasks because of their convenience. In reality, tasks are often heterogeneous, and many different types of UAVs are required at this time. Appropriate heterogeneous UAV task allocatio...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of low task allocation efficiency and poor task completion quality of the existing UAV task allocation method under the cross conditions of emergency and uneven task space distribution, the present invention first On the one hand, a heterogeneous UAV task assignment method for emergency scenarios with uneven task distribution is proposed, which includes:

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