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Unmanned ship composite task allocation method and system

A technology of composite tasks and distribution methods, which is applied in the field of composite task distribution methods and systems of unmanned boats, and can solve problems such as lack of stability

Pending Publication Date: 2021-11-30
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of game confrontation at sea, how to achieve efficient task allocation is a very challenging problem. The difficulty lies in the dynamic environment of the sea surface, whether it is the communication between the unmanned boat cluster or the communication between the unmanned boat and the intrusion target. Its own state is greatly affected by sea conditions and lacks stability

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  • Unmanned ship composite task allocation method and system
  • Unmanned ship composite task allocation method and system
  • Unmanned ship composite task allocation method and system

Examples

Experimental program
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Effect test

Embodiment 1

[0059] A kind of unmanned boat composite task allocation method based on asynchronous consensus bundling auction algorithm provided by this embodiment is a kind of multi-task (one unmanned boat needs to complete multiple tasks)-multi-robot (one task needs multiple unmanned boats to complete) )-time extension allocation (the unmanned vehicle must complete the task sequentially) allocation method.

[0060] See figure 1 , the present embodiment provides a method for allocating unmanned boat composite tasks based on the asynchronous consensus bundling auction algorithm, comprising the following steps:

[0061] Step 101: Decompose the strict two-boat cooperation composite task to obtain the first subtask and the second subtask; the unmanned boats in the unmanned boat cluster include area detection unmanned boats and target strike unmanned boats; the first subtask The task is performed by the area detection unmanned boat, and the second subtask is performed by the target strike unm...

Embodiment 2

[0094] This embodiment provides a method for allocating composite tasks of unmanned boats based on an asynchronous consensus bundling auction algorithm, including the following steps:

[0095] (1) Decompose the scoring scheme for the compound task (two-boat task):

[0096] Score ikj =∑ j∈RD ∑ i∈I1 ∑ k∈I2 (c ij x ij +c kj x kj )[x ij x kj ]

[0097] Among them, RD represents the dual-ship cooperative compound task, I1 represents the area detection UV, I2 represents the target strike UV, c ij Indicates the score assigned by task j to unmanned vehicle i, x ij = 1 means task j is successfully assigned to unmanned boat i, x ij = 0 means unallocated, Score ikj Indicates the score of the dual-boat composite mission j being jointly executed by the area detection UAV i and the target strike UAV k. [x ij x kj ] means that only after the two subtasks of the double-boat composite task j are successfully assigned, the assignment of the composite task is considered successfu...

Embodiment 3

[0147] The present embodiment provides a kind of unmanned ship composite task distribution system, comprising:

[0148] The decomposition module is used to decompose the strict double-boat cooperation composite task to obtain the first subtask and the second subtask; the unmanned boats in the unmanned boat cluster include area detection unmanned boats and target strike unmanned boats; One subtask is performed by the area detection unmanned boat, and the second subtask is performed by the target strike unmanned boat; the composite task of strict two-boat cooperation is a target interception strike task.

[0149] The construction module is used to bid for each unmanned boat in the unmanned boat cluster based on the first subtask, the second subtask and the area detection task, so as to build each unmanned boat in the unmanned boat cluster bundle, and then obtain relevant information; the area detection task is performed by the area detection unmanned boat or the target strike un...

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Abstract

The invention discloses an unmanned ship composite task allocation method and system. The method comprises the steps: building a binding package of each unmanned ship based on a region detection task and a decomposed strict double-ship cooperation composite task; carrying out real-time re-broadcasting on the binding packet of the unmanned ship by using a re-broadcasting mechanism; and performing data consensus and a re-broadcasting mechanism on the unmanned surface vehicle of which the self information is re-broadcasted and sent based on the information received from other unmanned surface vehicles, and finishing task allocation when the bid winning list and the winning unmanned surface vehicle list are not changed within the cycle index threshold value. According to the invention, a composite task which is strictly completed by double ships is further decomposed into subtasks which must be completed by mutual cooperation of two types of unmanned ships, so that a task allocation scheme of the unmanned ships can meet more complex actual combat environment task requirements; the time for synchronously waiting the consensus information of other unmanned ships in the task allocation process is greatly shortened, and synchronous waiting is not needed.

Description

technical field [0001] The invention relates to the field of surface unmanned boat command and dispatch, in particular to a method and system for unmanned boat compound task assignment. Background technique [0002] Explore the autonomous control technology of new unmanned boat swarms, build an intelligent command system for unmanned boat swarms with a wide range of operations, high operating efficiency, strong risk resistance and fault tolerance, and improve the capabilities of unmanned boat swarms for regional exploration, fleet interception and strikes Real-time, asynchrony, accuracy, and high efficiency have far-reaching significance. Task allocation is a key link in the decision-making process of the unmanned swarm intelligent command system. Accurate and efficient task decision-making and allocation directly affect the performance of the entire command system. The distribution method provides certain theoretical achievements and technical reserves for the intelligent ...

Claims

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Application Information

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IPC IPC(8): G06Q10/06
CPCG06Q10/06312
Inventor 谢少荣程顺才瞿栋刘东柯陈双双邓伟鲍茁野
Owner SHANGHAI UNIV