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Heterogeneous unmanned aerial vehicle cluster-oriented coupling multi-task allocation method and device

A distribution method and technology of drones, applied in the field of drones, can solve problems such as inability to handle different scenarios, inability to use heterogeneous drone clusters, etc.

Pending Publication Date: 2021-12-10
CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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Problems solved by technology

[0002] The existing multi-task allocation technology is mostly used to deal with homogeneous UAV clusters, and its disadvantage is that it cannot be used for heterogeneous UAV clusters equipped with different sensors
At the same time, most of the existing multi-task allocation technologies are designed for specific scenarios, and their disadvantage is that they cannot handle different scenarios under a unified framework.

Method used

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  • Heterogeneous unmanned aerial vehicle cluster-oriented coupling multi-task allocation method and device
  • Heterogeneous unmanned aerial vehicle cluster-oriented coupling multi-task allocation method and device
  • Heterogeneous unmanned aerial vehicle cluster-oriented coupling multi-task allocation method and device

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Embodiment Construction

[0038] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0039] The first embodiment of the present invention provides an embodiment of the present invention to provide a coupling multi-task assignment method for heterogeneous UAV clusters. The disclosed method can predetermine the approximate location of each task target and the tasks to be executed before assigning tasks. Type, mission capability requirements and other data. It is also possible to predetermine the capabilities of each ...

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Abstract

The invention discloses a heterogeneous unmanned aerial vehicle cluster-oriented coupling multi-task allocation method and device. The method comprises the steps: quantifying the capability indexes of all unmanned aerial vehicles in an unmanned aerial vehicle cluster, and quantifying the capability demands of all tasks; establishing constraint conditions based on the capability indexes and the capability demands; based on the constraint conditions, establishing a multi-task allocation model by taking the shortest total voyage as a target; establishing an artificial ant matrix based on the task model; determining the relative task capability of each ant in the artificial ant matrix; based on the determined relative task capability of each artificial ant and the pheromone intensity on each path, circularly executing state transition, and determining a current task path; based on the current task path, cyclically updating the pheromone intensity until an optimal task path is determined; and controlling the unmanned aerial vehicle cluster based on the obtained optimal task path. According to the method disclosed by the invention, heterogeneous unmanned aerial vehicle cluster multi-task allocation with different coupling strengths and different complexity degrees in different scenes can be processed under a unified framework.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a coupling multi-task assignment method and device for heterogeneous unmanned aerial vehicle clusters. Background technique [0002] The existing multi-task assignment technology is mostly used to deal with homogeneous UAV clusters, but its disadvantage is that it cannot be used for heterogeneous UAV clusters equipped with different sensors. At the same time, most of the existing multi-task allocation technologies are designed for specific scenarios, and their disadvantage is that they cannot handle different scenarios under a unified framework. Contents of the invention [0003] Embodiments of the present invention provide a coupling multi-task assignment method and device for heterogeneous UAV clusters, which can handle multi-task assignment problems with different coupling strengths and different degrees of complexity in different scenarios under a unified f...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 赵彦杰梁月乾袁莞迈隋维舜
Owner CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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