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Heterogeneous multi-unmanned-platform space-time cooperation task allocation method

An unmanned platform and task distribution technology, applied in the direction of position/direction control, instruments, control/adjustment systems, etc., can solve problems such as difficulty in meeting actual needs, load capacity, and different moving speeds and moving routes, and achieve good scientific research and Engineering value, improve search efficiency, and help to find the optimal path

Pending Publication Date: 2022-06-03
NAT UNIV OF DEFENSE TECH
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  • Claims
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Problems solved by technology

Due to the heterogeneity of unmanned platforms, their load capacity, moving speed, and moving routes are all different, and there are logical constraints and time window requirements before and after the task, the traditional task allocation method is difficult to meet the actual needs

Method used

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  • Heterogeneous multi-unmanned-platform space-time cooperation task allocation method
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  • Heterogeneous multi-unmanned-platform space-time cooperation task allocation method

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Embodiment Construction

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figure 1-Figure 4 As shown in the figure, a method for distributing space-time cooperative tasks for heterogeneous multi-unmanned platforms in the present invention is actually a method for distributing space-time cooperative tasks for heterogeneous multi-unmanned platforms based on an improved ant colony algorithm; the steps of the present invention include:

[0040] Step S1: read the task data to be executed and store;

[0041] In a specific application example, the mission data includes, but is not limited to, mission sequence, mission time window, load requirement, water bomb quantity requirement, current map information, road accessibility and other data.

[0042] Step S2: correspondingly divide the loads required by the task into different categories;

[0043] Specifically, one kind of the load can correspond to a v...

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Abstract

The invention discloses a heterogeneous multi-unmanned-platform space-time cooperation task allocation method. The method comprises the steps that S1, task data to be executed are read and stored; s2, correspondingly dividing loads required by the tasks into different categories; s3, inputting various attribute data of the ground unmanned platform and the air unmanned platform capable of executing tasks; s4, improving the ant colony algorithm by introducing time penalty and / or ranking incentive; s5, matching demand information, and performing efficiency maximization pairing on the unmanned platform and the task by using an improved ant colony algorithm to obtain an optimal task allocation scheme; and S6, calculating and adjusting an execution scheme in real time according to the change of the task and the dynamic update of the state of the unmanned platform until all the tasks to be executed are completed. The method has the advantages of being better in flexibility, higher in intelligence, higher in calculation efficiency and the like.

Description

technical field [0001] The invention mainly relates to the technical field of intelligent unmanned equipment control, in particular to a spatio-temporal cooperative task assignment method for heterogeneous multi-unmanned platforms based on an improved ant colony algorithm. Background technique [0002] With the development of science and technology, more and more intelligent unmanned devices have been applied in all walks of life. For example, many intelligent unmanned devices (unmanned systems) such as drones and unmanned vehicles. On the basis of the known task sequence, who will perform each action, when to perform it, how to meet the task requirements as much as possible, and how to improve the efficiency of the action, etc. These are all issues that need to be solved urgently in task assignment. Due to the heterogeneity of unmanned platforms, their load capacities, moving speeds, and moving routes are different. In addition, there are logical constraints before and aft...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
CPCG05D1/0088
Inventor 王楠丁宇航孙兆梅洪华杰黄杰王建华
Owner NAT UNIV OF DEFENSE TECH
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