Interceptor task allocation method based on contract auction mechanism

Abstract

The invention discloses an interceptor task allocation method based on a contract auction mechanism, and the method comprises the following steps: obtaining the relative motion information of interceptors and targets, carrying out the formation of the interceptors, calculating the distance advantage # imgabs0 # and angle advantage # imgabs1 # of the interceptors to the targets according to the distance advantage and angle advantage, and carrying out the task allocation of the interceptors. Generating a comprehensive advantage Sij of the interceptor to the target; loading the target allocation model, and realizing task allocation of the target aiming at the interceptor through the target allocation model; wherein the target distribution model is constructed based on a task distribution algorithm of a contract network protocol, and target online distribution is realized. According to the technical scheme, the distance advantage, the angle advantage function and the comprehensive advantage function of the interceptor on the target can be determined in a cluster confrontation scene, and the target distribution model is established based on the parameters; on the basis, tasks are completed with the minimum system cost and the maximum income in combination with a task allocation process based on a contract network protocol, and rapid cluster task allocation in a dynamic environment is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft cluster collaborative guidance control, and in particular to an interceptor task allocation method based on a contract auction mechanism. Background Art

[0002] In modern warfare, especially in the field of air combat or drone combat, there are confrontation scenarios between multiple interceptors (such as fighters, missiles or drones) and target clusters (such as enemy drone clusters or aircraft clusters). At this time, it is necessary to identify and classify the target clusters and assign the targets to the interceptors so that the interceptors can carry out subsequent attacks, defenses and other matters. Therefore, when confrontation occurs, it is necessary to quickly and effectively assign the targets to the interceptors, and traditional task allocation methods are difficult to meet the autonomous allocation requirements of cluster targets and interception tasks, mainly manifested in: when traditional task allocation methods are facing high-dynamic encounter scenarios, as the targets change rapidly, it is difficult to quickly achieve online convergence of task allocation schemes. Therefore, a technical solution is needed to realize the allocation and migration of tasks, assign tasks at the lowest system cost, and enable interceptors to complete tasks with the greatest benefits. Summary of the invention

[0003] To achieve the above objectives, the present application provides an interceptor task allocation method based on a contract auction mechanism, comprising the following steps:

[0004] Obtain the relative motion information between the interceptor and the target, form a formation for the interceptors, and calculate the distance advantage of the interceptor over the target and angle advantage

[0005] Generate the interceptor's comprehensive advantage S over the target based on distance advantage and angle advantage ij ;

[0006] Load the target allocation model, and use the target allocation model to implement the task allocation of the target to the interceptor;

[0007] Among them, the target allocation model is based on the comprehensive advantage S ij With the purpose of maximization, a task allocation algorithm based on the contract network protocol is constructed.

[0008] Furthermore, the calculation method of the interceptor's distance advantage over the target is:

[0009]

[0010] in, is the distance advantage of the i-th formation member to the j-th target, R ijis the distance between the i-th formation member and the j-th target, R0 is the position of the formation member’s maximum distance advantage, and σ is the distance advantage coefficient.

[0011] Among them, R0 is composed of the attack near boundary R min and far boundary R max Sure.

[0012] The interceptor's angular advantage over the target is calculated as:

[0013]

[0014] in, is the angle advantage of the i-th formation member over the j-th target; is the entry angle of the i-th formation member to the j-th target; is the azimuth of the j-th target relative to the i-th formation member.

[0015] The comprehensive advantage function is defined as:

[0016]

[0017] Among them, S ij is the comprehensive advantage of the i-th formation member over the j-th target; K r is the distance advantage weight; K a is the angle advantage weight.

[0018] Furthermore, the target allocation model is defined as:

[0019]

[0020] Among them, J is the self-efficacy obtained after completing the task, st is the constraint condition, Indicates that a team member can only attack one target. Indicates that each target needs to be assigned to at least one interceptor formation member.

[0021] According to the target allocation model, N is defined T goals, expressed as:

[0022] Definition N F interceptors, represented as:

[0023] Define the task, expressed as: Among them, N T is the target number.

[0024] Specifically, the task allocation for the interceptor to achieve the above goal includes:

[0025] Step S1: Interceptor V i Apply for task auction, obtain auction rights and become a bidder;

[0026] Step S2: Tender Interceptor V i Publish the task set to other interceptors, calculate the change in their own performance after selling each task,

[0027] Step S3: Other interceptors V j Return bidding information to the bidder

[0028] Step S4: Receive all bid interceptors V j After the bidding information is received, the bidder interceptor V i Evaluate the bids, select the task auction plan that maximizes system performance, and Sold to Interceptor V i , announce the winning bid information to the system;

[0029] Step S5: for a given k value, determine whether the current round of auction meets the market equilibrium criterion or has exceeded the maximum auction round; if so, the dynamic task allocation process ends, each interceptor performs tasks according to the obtained task plan and sequence, and the algorithm exits; otherwise, go to step S6;

[0030] Step S6: Based on the current task allocation results, each interceptor announces its own performance to the market, determines the bidder for the next round of task auction based on the bidder's selection criteria, and returns to step S2.

[0031] In the cluster confrontation scenario, the interceptor's distance advantage, angle advantage function and comprehensive advantage function over the target are determined according to the present invention, and a target allocation model is established based on the above parameters. On this basis, combined with the task allocation process of the contract network, the task is completed with the minimum system cost and the maximum benefit, realizing rapid cluster task allocation in a dynamic environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a step diagram of a task allocation method provided according to an embodiment of the present invention;

[0033] Figure 2 is a diagram of the steps of cluster rapid task allocation in a dynamic environment provided by an embodiment of the present invention;

[0034] Figure 3 is a three-dimensional coordinate diagram of task allocation results provided by an embodiment of the present invention;

[0035] Figure 4 It is a curve diagram of the overall cost change of interceptor and target allocation provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0037] Figure 1 The steps of the interceptor task allocation method based on the contract auction mechanism are provided, as shown in the figure, including:

[0038] Step S100: Obtain the relative motion information of the interceptor and the target, form a formation for the interceptors, and calculate the distance advantage of the interceptors over the target. and angle advantage

[0039] After the interceptors are formed into a formation, each interceptor is represented by i as a formation member, and N F is the number of interceptors; at the same time, the target is represented by j, N T is the target number.

[0040] The interceptor's range advantage over the target is calculated as:

[0041]

[0042] in, is the distance advantage of the i-th formation member to the j-th target, R ij is the distance between the i-th formation member and the j-th target, R0 is the position of the formation member’s maximum distance advantage, and σ is the distance advantage coefficient.

[0043] Among them, R0 is composed of the attack near boundary R min and far boundary R max Determine, expressed as: R0 = (R max +R min ) / 2; In practical applications, the distance advantages of initializing the near bound and the far bound are: Then σ=0.6(R max -R min ).

[0044] The interceptor's angular advantage over the target is calculated as:

[0045]

[0046] in, is the angle advantage of the i-th formation member over the j-th target; is the entry angle of the i-th formation member to the j-th target; is the azimuth of the j-th target relative to the i-th formation member.

[0047] Step S110: Generate the comprehensive advantage S of the interceptor over the target based on the distance advantage and the angle advantage ij ;

[0048] The comprehensive advantage function is defined as:

[0049]

[0050] Among them, S ij is the comprehensive advantage of the i-th formation member over the j-th target; K r is the distance advantage weight; K a is the angle advantage weight.

[0051] Step S120: Loading a target allocation model, wherein the target allocation model is used to allocate the target according to the comprehensive advantage S ij , achieving said goal with respect to task allocation of interceptors;

[0052] Before loading the target allocation model, the target allocation model is constructed based on the task allocation algorithm of the contract network protocol.

[0053] Specifically, as shown in step S101, based on the comprehensive advantage S ij To optimize the target, define the target allocation model:

[0054] First, define N T goals, expressed as: Definition N F interceptors, represented as:

[0055]

[0056] Secondly, define the allocation purpose as the target allocation model with the greatest comprehensive advantage:

[0057]

[0058]

[0059] Among them, J is the self-efficiency obtained after completing the task, that is, the system cost of executing the task, st is the constraint condition, X ij is a binary variable, using Indicates that a team member can only attack one target. This means that each target needs to be assigned to at least one interceptor formation member;

[0060] On this basis, define the tasks: Represents the interceptor's task of implementing all targets.

[0061] Specifically, the task allocation for the interceptor is as follows: Figure 2 As shown, the following steps are included:

[0062] Step S1: Interceptor V i Apply for task auction, the application information includes: interceptor number i, distance to the target, direction angle and other information;

[0063] Interceptor V i After applying for task auction, you will obtain the auction rights and become a bidder;

[0064] Step S2: Tender Interceptor V i The task set is represented as

[0065] Tender Interceptor V i Its task set T i Publish to other interceptors, calculate the change of their own efficiency J after selling each task according to the target allocation model, and form the task selling efficiency vector

[0066] Step S3: Other interceptors V j Receive the task set T i After that, V j According to the distance information and angle information between the target and the target, the change of its own performance after the task is completed is calculated, and a bid is generated, and the bid information is returned to the bidder.

[0067]

[0068] Step S4: When all bid interceptors V are received j After the bidding information is received, the bidder interceptor V i Evaluate the bids, select the task auction plan that maximizes system performance, and Sold to Interceptor V i and announce the winning bid information to the system;

[0069] Step S5: for a given k value, determine whether the current round of auction meets the market equilibrium criterion or has exceeded the maximum auction round; if so, the dynamic task allocation process ends, each interceptor performs tasks according to the obtained task plan and sequence, and the algorithm exits; otherwise, go to step S6;

[0070] Step S6: Based on the current task allocation results, each interceptor announces its own performance to the market, and determines the bidder for the next round of task auction according to the bidder's selection criteria, and returns to step 2.

[0071] Figure 2 The verification results of the allocation of 24 interceptors to 10 targets are provided, which shows the effectiveness of the allocation modeling and contract auction mechanism for task allocation algorithm; in the allocation process, the relationship between the system cost and the auction round is as follows Figure 3As shown, it can be seen that the overall cost can quickly reach the local optimum.

[0072] In the scenario of confrontation between the interceptor cluster and the target cluster, the present invention simulates the "tender-bid-win" method in the market, and realizes the allocation and migration of tasks based on distance advantage and angle advantage. In the task allocation process, through mutual negotiation and competition among interceptors, the global optimal negotiation allocation scheme is pursued on the basis of achieving fast local optimality, so as to complete the task with the minimum system cost and the maximum benefit, and realize the purpose of fast cluster task allocation in a dynamic environment.

[0073] The above disclosures are only several specific embodiments of the present invention; however, the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A method for allocating interceptor tasks based on a contract auction mechanism, characterized in that: The following steps are involved: Obtain the relative motion information of the interceptor and the target, form a formation for the interceptors, and calculate the distance advantage of the interceptors over the target and angle advantage According to the distance advantage and angle advantage, generate the comprehensive advantage S of the interceptor over the target ij ; Load the target allocation model, and use the target allocation model to implement the task allocation of the target to the interceptor; Among them, the target allocation model is based on the comprehensive advantage S ij For this purpose, a task allocation algorithm based on the contract net protocol is constructed.

2. The interceptor task allocation method according to claim 1, characterized in that: The calculation method of the interceptor's distance advantage over the target is: in, is the distance advantage of the i-th formation member to the j-th target, R ij is the distance between the i-th formation member and the j-th target, R0 is the position of the formation member’s maximum distance advantage, and σ is the distance advantage coefficient. Among them, R0 is composed of the attack near boundary R min and far boundary R max Sure.

3. The interceptor task allocation method according to claim 1, characterized in that: The calculation method of the angle advantage of the interceptor to the target is: in, is the angle advantage of the i-th formation member over the j-th target; is the entry angle of the i-th formation member to the j-th target; is the azimuth of the j-th target relative to the i-th formation member.

4. The interceptor task allocation method according to claim 2, characterized in that: The comprehensive advantage function is defined as: Among them, S ij is the comprehensive advantage of the i-th formation member over the j-th target; K r is the distance advantage weight; K a is the angle advantage weight.

5. The interceptor task allocation method according to claim 1, characterized in that: The target allocation model is defined as: Among them, J is the self-efficacy obtained after completing the task, st is the constraint condition, Indicates that a team member can only attack one target. Indicates that each target needs to be assigned to at least one interceptor formation member.

6. The interceptor task allocation method according to claim 5, characterized in that: According to the target allocation model, define N T goals, expressed as: Definition N F interceptors, represented as: Define the task, expressed as: Among them, N T is the target number.

7. The interceptor task allocation method according to claim 6, characterized in that: The task allocation for the interceptor to achieve the goal includes: Step S1: Interceptor V i Apply for task auction, obtain auction rights and become a bidder; Step S2: Tender Interceptor V i Publish the task set to other interceptors, calculate the change in their own performance after selling each task, Step S3: Other interceptors V j Return bidding information to the bidder Step S4: Receive all bid interceptors V j After the bidding information is received, the bidder interceptor V i Evaluate the bids, select the task auction plan that maximizes system performance, and Sold to Interceptor V i , announce the winning bid information to the system; Step S5: for a given k value, determine whether the current round of auction meets the market equilibrium criterion or has exceeded the maximum auction round; if so, the dynamic task allocation process ends, each interceptor performs tasks according to the obtained task plan and sequence, and the algorithm exits; otherwise, go to step S6; Step S6: Based on the current task allocation results, each interceptor announces its own performance to the market, determines the bidder for the next round of task auction based on the bidder's selection criteria, and returns to step S2.

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