Manned boat-unmanned boat cluster distributed task allocation method based on average consensus

Abstract

The invention discloses a manned ship-unmanned ship cluster distributed task allocation method based on average consensus, and relates to the technical field of unmanned system cooperative control, and the method comprises the steps: obtaining neighbor unmanned ships of all unmanned ships, and enabling each unmanned ship to only communicate with the neighbor unmanned ships; in the task allocation process of the single unmanned ship which does not receive the instruction, a two-stage optimization strategy of adjusting a task target by the single unmanned ship and exchanging the task target with a neighbor unmanned ship is adopted; the unmanned surface vehicle only interacts with the neighbor nodes, so that the cluster communication burden can be effectively reduced, and the delay and complexity caused by global communication are avoided. The unmanned ship cluster can obtain a final task allocation scheme in cooperation with the manned ships under various conditions, the task allocation efficiency and quality can be guaranteed on the basis of reducing the communication load, the method has high feasibility, and the method is suitable for distributed systems such as unmanned ships and clusters and can meet complex and changeable offshore operation requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned system collaborative control, and in particular to a manned boat-unmanned boat cluster distributed task allocation method based on average consensus. Background Art

[0002] With the increasing development of marine resources and maritime activities, the swarm system of manned and unmanned boats working together has shown great potential in the fields of marine monitoring and regional protection. Unmanned boats can efficiently perform large-scale and long-term operations with their various sensors, while manned boats provide key command decisions and complex task processing capabilities. The complementary advantages of the two can significantly improve operational efficiency and task adaptability. With the rapid development of intelligent control technology and distributed algorithms, this collaborative operation mode is gradually expanding to more application scenarios such as maritime search and rescue and resource exploration. Its flexible and scalable characteristics make it an important part of the future intelligent marine equipment system. In this context, improving the task allocation efficiency of the swarm system is of great practical significance for ensuring the overall collaborative efficiency.

[0003] However, the traditional centralized task allocation method is difficult to meet the complex and ever-changing needs of maritime operations due to inherent defects such as heavy communication burden, large response delay, and insufficient system fault tolerance. Especially in the application scenario of large-scale unmanned boat clusters, global communication will not only greatly increase the complexity of the system, but also seriously affect the real-time performance of task allocation due to communication delay problems. Summary of the invention

[0004] The present invention discloses a manned boat-unmanned boat cluster distributed task allocation method based on average consensus to overcome the above technical problems.

[0005] In order to achieve the above object, the technical solution of the present invention is: A distributed task allocation method for manned boat-unmanned boat cluster based on average consensus includes the following steps: S1: determining the unmanned boats that have not received the assigned tasks of the manned boats according to whether the unmanned boats in the manned boat-unmanned boat cluster have received the assigned tasks of the manned boats in the manned boat-unmanned boat cluster, so as to obtain the initial task assignment plan for the unmanned boats that have not received the assigned tasks of the manned boats, and determining the target code of the task target of the unmanned boats that have not received the assigned tasks of the manned boats; S2: According to the current position and speed of the manned boat, unmanned boat and mission target, the cost value calculation formula of the task allocation scheme is used to obtain the current The mission objective of the unmanned boat that has not received the assigned mission from the manned boat is The cost value of the task target is used to update the The task allocation plan of the unmanned boat that has not received the assigned task of the manned boat is obtained. The index code of the updated mission target of the unmanned boat that has not received the assigned mission of the manned boat is obtained, and then the first An updated task allocation plan for the unmanned boats that have not received the assigned tasks from the manned boats; S3: Obtain neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat according to the center position coordinates of the protected area and the position coordinates of the unmanned boat that has not received the assigned task from the manned boat at the current moment; S4: The target code of the updated mission target of the unmanned boat that has not received the assigned mission from the manned boat is the same as the target code of the first The target codes of the updated mission targets of the neighboring unmanned boats of the unmanned boats that have not received the assigned tasks of the manned boats are exchanged to obtain the first Task allocation plan for unmanned boats that have not received any assigned tasks from manned boats; Indicates the index number of the unmanned boat that has not received the assigned task from the manned boat; S5: According to The cost value of the updated task allocation plan of the unmanned boat that has not received the assigned task of the manned boat, and the cost value of the first unmanned boat after exchanging the target code The cost value of the task allocation plan for the unmanned boat that has not received the assigned task from the manned boat is obtained. The target code of the task target of the unmanned boat that has not received the assigned task from the manned boat is used to obtain the task allocation plan after the second update; S6: When the updated task allocation plan is different from the task allocation plan after the second update, S2-S5 are re-executed based on the task allocation plan after the second update and the next moment's position and speed of the manned boats, unmanned boats and task targets in the manned boat-unmanned boat cluster; otherwise, the updated task allocation plan / the task allocation plan after the second update at this time is the final task allocation plan for the unmanned boat that has not received the assigned task from the manned boat, and the task allocation for the manned boat-unmanned boat cluster is completed.

[0006] Furthermore, the cost value calculation formula of the task allocation scheme is as follows: , Where: represents the value of the cost function; Indicates that the mission objective of the unmanned boat is The cost value required for each mission objective; An index code representing the task objective; Indicates the total number of mission objectives; in, , , , Where: Indicates The distance between the mission target and the center of the protected area; Indicates the index code of the manned boat; Indicates the total number of manned boats; Indicates A manned boat and The decision coefficient of each task goal; Indicates the index code of the unmanned boat; represents the total number of unmanned boats; Indicates The unmanned boat and The decision coefficient of each task goal; Indicates A manned boat and The distance between the mission objectives; Indicates The position coordinates of the manned boats; Indicates The location coordinates of the mission target; Indicates the weight coefficient of the distance factor; Indicates The speed of each mission target; Indicates Speed ​​of a manned boat; Indicates the weight coefficient of speed factor; Indicates The speed of the unmanned boat; An index code representing the task objective; Indicates the total number of mission objectives; Indicates The unmanned boat and The distance between the mission objectives; Indicates The location coordinates of the unmanned boat; Indicates Assignment of tasks for manned boats; Indicates Assignment of tasks for unmanned boats.

[0007] Further, update The method used for the task allocation plan of the unmanned boat that has not received the assigned task of the manned boat is as follows: When The mission objective of the unmanned boat that has not received the assigned mission from the manned boat is The cost value is the smallest when the task goal is The updated mission objective of the unmanned boat that has not received the assigned mission from the manned boat is A mission objective.

[0008] Furthermore, the method used to obtain the neighboring unmanned boats of the unmanned boats that have not received the assigned task of the manned boats is as follows: First, according to the calculation formula of the azimuth of the unmanned boat, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the unmanned boat that has not received the assigned task from the manned boat and the counterclockwise direction of the east direction is obtained to obtain the azimuth of the unmanned boat that has not received the assigned task from the manned boat; Secondly, the azimuths of the unmanned boats that have not received the assigned tasks of the manned boats are arranged in order from small to large to obtain the ascending sequence of the angles. ,in, The first in the ascending sequence of the angles elements, namely, the azimuth of the unmanned boat that has not received the assigned task from the manned boat in the ascending sequence of angles; is the total number of elements in the angle ascending sequence, that is, the total number of unmanned boats that have not received the assigned tasks of manned boats; Indicates the index number of the unmanned boat that has not received the assigned task from the manned boat; Then, the neighbor unmanned boats of the first unmanned boat in the angle ascending sequence that has not received the assigned task from the manned boat are: the second unmanned boat in the angle ascending sequence that has not received the assigned task from the manned boat and the first unmanned boat in the angle ascending sequence. An unmanned boat that has not received any assigned mission from a manned boat; The first The neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat are: The unmanned boat that has not received the assigned task of the manned boat and the first unmanned boat in the ascending sequence of the angle An unmanned boat that has not received any assigned mission from a manned boat; The first The neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat are: The first unmanned boat that has not received the assigned task from the manned boat and the first unmanned boat in the ascending sequence of angles that has not received the assigned task from the manned boat.

[0009] Furthermore, the calculation formula of the azimuth angle of the unmanned boat is as follows: , where: It represents the angle between the ray from the center position coordinate of the protected area to the position coordinate of the unmanned boat and the counterclockwise direction of the east direction, that is, the azimuth of the unmanned boat; Indicates The vertical coordinate of the two-dimensional space of the position of the unmanned boat; Indicates The horizontal coordinate of the two-dimensional space of the position of the unmanned boat; Indicates the horizontal coordinate value of the two-dimensional space of the center position of the protected area. Indicates the vertical coordinate value of the two-dimensional space of the center position of the protected area.

[0010] Beneficial effects: A distributed task allocation method for manned boat-unmanned boat clusters based on average consensus of the present invention obtains the neighboring unmanned boats of each unmanned boat through the motion parameter information of the unmanned boat, the instructions issued by the manned boat and the information of the protected area, and each unmanned boat only communicates with the neighboring unmanned boat; in the process of task allocation for the single unmanned boat that has not received the instruction, a two-stage optimization strategy of adjusting the task target of the single unmanned boat and exchanging the task target with the neighboring unmanned boat is adopted; at the same time, a cost function including penalty items such as target coverage, distance, and speed difference is established. The unmanned boat of the present invention only interacts with neighboring nodes, which can effectively reduce the burden of cluster communication and avoid the delay and complexity caused by global communication. The unmanned boat cluster can cooperate with the manned boat to obtain the final task allocation plan in various situations, which has strong feasibility and is suitable for distributed systems such as unmanned boat clusters. The present invention takes into account the communication burden in the task allocation process of the unmanned boat cluster, and can ensure the efficiency and quality of task allocation on the basis of reducing the communication load. It has strong feasibility and is suitable for distributed systems such as unmanned boats and clusters, and can meet the complex and changeable marine operation needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 It is a flow chart of a distributed task allocation method for manned boat-unmanned boat cluster based on average consensus of the present invention; Figure 2 A schematic diagram of a neighbor unmanned boat in an embodiment of the present invention; Figure 3 A schematic diagram of the communication topology of an unmanned boat cluster in an embodiment of the present invention; Figure 4 This is a schematic diagram of the task allocation result of the first embodiment of the present invention; Figure 5 This is a schematic diagram of the task allocation result of the second embodiment of the present invention; Figure 6 This is a schematic diagram of the task allocation result of the third embodiment of the present invention; Figure 7 This is a schematic diagram of task allocation results in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] This embodiment introduces a distributed task allocation method for manned boat-unmanned boat clusters based on average consensus, which is suitable for multiple agents to achieve efficient task allocation through local communication, such as Figure 1 As shown, the following steps are included: S1: determining the unmanned boats that have not received the assigned tasks of the manned boats according to whether the unmanned boats in the manned boat-unmanned boat cluster have received the assigned tasks of the manned boats in the manned boat-unmanned boat cluster, so as to obtain the initial task assignment plan for the unmanned boats that have not received the assigned tasks of the manned boats, and determining the target code of the task target of the unmanned boats that have not received the assigned tasks of the manned boats; Specifically, in a manned boat-unmanned boat cluster, the manned boat autonomously selects the mission target and issues mission instructions to some unmanned boats in the cluster. In this example, the initial mission allocation plan is: When the unmanned boat receives the assigned task from the manned boat, the index code of the task target of the unmanned boat is the index code of the task target assigned by the manned boat; If the unmanned boat does not receive the assigned task from the manned boat, the target code of the task target of the unmanned boat is the index code of the random task target.

[0015] Specifically, when there is no manned boat When an unmanned boat issues a command, there is no manned boat to When an unmanned boat is assigned a mission target, the first The index code of the mission target that the unmanned boat is responsible for; when there is A manned boat headed for When an unmanned boat issues a command, there is A manned boat headed for When the unmanned boat is assigned the target unmanned boat mission target, obtain the first The target code of the unmanned boat is The index code of the mission objective assigned to it by a manned boat; Specifically, in this implementation, the maximum number of mission targets that each manned boat and each unmanned boat in the manned boat-unmanned boat cluster can be responsible for is no more than 1; all motion parameter information of the manned boat is ,in, Indicates the index code of the manned boat. Indicates the total number of manned boats; Indicates The horizontal coordinate value of the two-dimensional space of a manned boat, Indicates The vertical coordinate value of a manned boat in two-dimensional space, Indicates The speed of a manned boat, Indicates The course of a manned boat, Indicates The maximum angular velocity of each manned boat; all motion parameter information of each unmanned boat is ,in Indicates the index code of the unmanned boat, represents the total number of unmanned boats; Indicates The horizontal coordinate value of the two-dimensional space of the unmanned boat, Indicates The vertical coordinate value of the two-dimensional space of the unmanned boat, Indicates The speed of an unmanned boat, Indicates The direction of the unmanned boat, Indicates The maximum angular velocity of an unmanned boat; the motion parameter information of the target that can be observed ,in, The index code representing the task target, Indicates the total number of mission objectives; Indicates The horizontal coordinate value of the two-dimensional space of the target, Indicates The vertical coordinate value of the two-dimensional space of the target, Indicates The speed of the target; Indicates The heading of the target; the location information of the protected area ,in, Indicates the horizontal coordinate value of the two-dimensional space of the center position of the protected area. Indicates the vertical coordinate value of the two-dimensional space of the center position of the protected area. Indicates the radius of the protected area.

[0016] S2: According to the current positions of the manned boat, the unmanned boat and the mission target and the calculation formula of the mission allocation plan cost value, obtain the current The mission objective of the unmanned boat that has not received the assigned mission from the manned boat is The cost value at the task goal is used to update the The task allocation plan of the unmanned boat that has not received the assigned task of the manned boat is obtained. The updated task target index code of the unmanned boat that has not received the assigned task of the manned boat is obtained, and then the updated task allocation plan of the unmanned boat is obtained; and the task target of the single unmanned boat is adjusted; Preferably, the calculation formula of the cost value of the task allocation scheme is as follows: , Where: represents the value of the cost function, that is, the cost value required for the unmanned boat to execute the task allocation plan; Indicates that the mission objective of the unmanned boat is The cost value required for each mission objective; An index code representing the task objective; Indicates the total number of mission objectives; in, , , , Where: Indicates The distance between the mission target and the center of the protected area; Indicates the index code of the manned boat; Indicates the total number of manned boats; Indicates A manned boat and The decision coefficient of the task goal is A manned boat broadcasts its mission intent and the mission intent is the first When the task goal is =1, otherwise =0; Indicates the index code of the unmanned boat; represents the total number of unmanned boats; Indicates The unmanned boat and The decision coefficient of the task goal is The mission of the unmanned boat is When the task goal is =1, when The mission objective of the unmanned boat is not When the task goal is =0; Indicates A manned boat and The distance between the mission objectives; Indicates The position coordinates of the manned boats; Indicates The location coordinates of the mission target; Indicates the weight coefficient of the distance factor; Indicates The speed of each mission target; Indicates Speed ​​of a manned boat; Indicates the weight coefficient of speed factor; Indicates The speed of the unmanned boat; An index code representing the task objective; Indicates the total number of mission objectives; Indicates The unmanned boat and The distance between the mission objectives; Indicates The location coordinates of the unmanned boat; Indicates Assignment of tasks for manned boats; Indicates Assignment of tasks for unmanned boats.

[0017] Among them, update The method used for the task allocation plan of the unmanned boat that has not received the assigned task of the manned boat is as follows: When the unmanned boat receives the assigned task from the manned boat, the task assignment plan of the unmanned boat is not processed. At this time, the index code of the updated task target of the unmanned boat is still the index code of the task target assigned to the manned boat; When the unmanned boat does not receive the assigned task from the manned boat, When The mission objective of the unmanned boat that has not received the assigned mission from the manned boat is The cost value is the smallest when the task goal is The updated mission objective of the unmanned boat that has not received the assigned mission from the manned boat is task objectives, that is, the index code of the updated task objectives is .

[0018] S3: Obtain neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat according to the center position coordinates of the protected area and the position coordinates of the unmanned boat that has not received the assigned task from the manned boat at the current moment; Preferably, the method for obtaining the neighboring unmanned boats of the unmanned boats that have not received the assigned task of the manned boats is as follows: First, according to the calculation formula of the azimuth of the unmanned boat, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the unmanned boat that has not received the assigned task from the manned boat and the counterclockwise direction of the east direction is obtained to obtain the azimuth of the unmanned boat that has not received the assigned task from the manned boat; Preferably, the calculation formula of the azimuth angle of the unmanned boat is expressed as follows: , Where: It represents the angle between the ray from the center position coordinate of the protected area to the position coordinate of the unmanned boat and the counterclockwise direction of the east direction, that is, the azimuth of the unmanned boat; Indicates The vertical coordinate of the two-dimensional space of the position of the unmanned boat; Indicates The horizontal coordinate of the two-dimensional space of the position of the unmanned boat; Indicates the horizontal coordinate value of the two-dimensional space of the center position of the protected area. Indicates the vertical coordinate value of the two-dimensional space of the center position of the protected area; Secondly, the azimuth angles of the unmanned boats that have not received the assigned tasks of the manned boats are arranged in order from small to large to obtain an ascending sequence of the angles. ,in, The first in the ascending sequence of the angles elements, namely, the azimuth of the unmanned boat that has not received the assigned task from the manned boat in the ascending sequence of angles; is the total number of elements in the angle ascending sequence, that is, the total number of unmanned boats that have not received the assigned tasks of manned boats; Then, the neighbor unmanned boats of the first unmanned boat in the angle ascending sequence that has not received the assigned task from the manned boat are: the second unmanned boat in the angle ascending sequence that has not received the assigned task from the manned boat and the first unmanned boat in the angle ascending sequence. An unmanned boat that has not received any assigned mission from a manned boat; The first The neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat are: The unmanned boat that has not received the assigned task of the manned boat and the first unmanned boat in the ascending sequence of the angle An unmanned boat that has not received any assigned mission from a manned boat; The first The neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat are: The first unmanned boat that has not received the assigned task from the manned boat and the first unmanned boat in the ascending angle sequence that has not received the assigned task from the manned boat.

[0019] Specifically, in this embodiment, according to the current position of the unmanned boat and the center position of the protected area, for the unmanned boat that has not received the assigned mission target, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the unmanned boat and the counterclockwise direction of the east direction is obtained. Then, they are sorted in order from small to large. After the sorting is completed, the neighboring unmanned boats of each unmanned boat that has not received the assigned mission target can be obtained, including the neighboring unmanned boats in the clockwise direction and the neighboring unmanned boats in the counterclockwise direction, such as Figure 2 As shown; S4: The target code of the updated mission target of the unmanned boat that has not received the assigned mission from the manned boat is the same as the target code of the first The target codes of the updated mission targets of the neighboring unmanned boats of the unmanned boats that have not received the assigned tasks of the manned boats are exchanged to obtain the first Task allocation plan for unmanned boats that have not received any assigned tasks from manned boats; Indicates the index number of the unmanned boat that has not received the assigned task from the manned boat; S5: According to The cost value of the updated task allocation plan of the unmanned boat that has not received the assigned task of the manned boat, and the cost value of the first unmanned boat after exchanging the target code The cost value of the task allocation plan for the unmanned boat that has not received the assigned task from the manned boat is obtained. The target code of the task target of the unmanned boat that has not received the assigned task from the manned boat is used to obtain the task allocation plan after the second update; Specifically, in this embodiment, the cost value calculation formula of the task allocation scheme is used to calculate the first The cost value of the updated task allocation plan of the unmanned boat that has not received the assigned task of the manned boat, and the cost value of the first unmanned boat after calculating the exchange target code The cost value of the task allocation plan for the unmanned boat that has not received the assigned task from the manned boat. The unmanned boat that did not receive the assignment task of the manned boat has two unmanned boats, and the cost values ​​of the two assignment schemes are obtained. The cost value of the updated task allocation scheme of the unmanned boat that has not received the assigned task of the manned boat is selected, and the allocation scheme with the smallest cost value among the three allocation schemes is selected as the first allocation scheme after the second update. The allocation plan of the unmanned boat that has not received the allocation task of the manned boat can be obtained, and then the second updated The target code of the mission target of an unmanned boat that has not received a mission assigned by a manned boat.

[0020] S6: When the updated task allocation plan is different from the task allocation plan after the second update, S2-S5 are re-executed based on the task allocation plan after the second update and the positions of the manned boats, unmanned boats and task targets in the manned boat-unmanned boat cluster at the next moment; otherwise, the updated task allocation plan / the task allocation plan after the second update at this time is the final task allocation plan for the unmanned boat that has not received the assigned task from the manned boat, and the task allocation for the manned boat-unmanned boat cluster is completed at this time.

[0021] In an embodiment of the present invention, Matlab is used to simulate a multi-manned boat-unmanned boat distributed task allocation method based on average consensus of the present invention as follows.

[0022] Example 1: The mission scenario includes 9 unmanned boats, 1 manned boat, and 6 target boats (mission targets). The simulation conditions are that the manned boats do not inform the unmanned boats of their intentions through the communication link, and the manned boats do not issue instructions to any unmanned boats. The task allocation results are as follows: Figure 4 As shown; In the figure, the white circle represents the scope of the protected area; the gray boat shape represents the position of the manned boat; the black boat shape represents the position of the unmanned boat; the white boat shape represents the position of the target boat; in the embodiment, when the mission starts, the manned boat is located at (-199,236), the heading angle is 207°, and the speed is 5m / s. The unmanned boats are located at (-297,79), (-268,-110), (-164,-255), (22,-300), (192,-228), (300,-73), (267,110), (161,263), (-25,298), with heading angles of 244°, 302°, 313°, 1°, 41°, 64°, 118°, 132°, 187°, and speeds of 7m / s, 7m / s, 7m / s, 6m / s, 6m / s, 6m / s, 6m / s, 6m / s, 6m / s, 6m / s. The target boats are located at (-264,644), (-605,-8), (-231,-653), (521,-650), (900,3), (516,656). The initial heading angles are 223°, 331°, 69°, 129°, 180°, and 232° respectively. The speeds are 6m / s, 6m / s, 6m / s, 9m / s, 9m / s, and 9m / s respectively.

[0023] Example 2: Information about unmanned boats, manned boats, target boats and protected areas are all available in the attached Figure 4 The simulation condition is that the manned boat does not inform the unmanned boat of its intention through the communication link, but the manned boat issues an instruction to the unmanned boat 4 to make it responsible for the target 5. The task allocation result is as follows Figure 5 shown.

[0024] Example 3: Information about unmanned boats, manned boats, target boats and protected areas are all available with the attached Figure 4 The simulation condition is that the manned boat informs the unmanned boat of its intention through the communication link, and the manned boat intends to be responsible for target 5, but the manned boat does not issue any instructions to any unmanned boat. The task allocation result is as follows Figure 6 shown.

[0025] Example 4: Information about unmanned boats, manned boats, target boats and protected areas are all available with the attached Figure 4 The simulation condition is that the manned boat informs the unmanned boat of its intention through the communication link, the manned boat intends to be responsible for target 5, and the manned boat issues an instruction to the unmanned boat 4 to make it responsible for target 5. The task allocation result is shown in Figure 7 shown.

[0026] By simulating the initial conditions of the above four manned boat-unmanned boat clusters, it can be seen that in this embodiment, whether the manned boat informs the unmanned boat of its intention through the communication link, or whether the manned boat issues instructions to the unmanned boat, all target boats are allocated and in the allocation process. Therefore, the distributed task allocation method of the manned boat-unmanned boat cluster in this embodiment fully considers the different motion characteristics and distribution of each vehicle. The number of target boats allocated to the unmanned boat is relatively uniform.

[0027] This embodiment obtains the neighboring unmanned boats of each unmanned boat through the motion parameter information of the unmanned boat, the instructions issued by the manned boat and the information of the protected area, and limits the communication range through the ring communication topology, such as Figure 3 As shown, each unmanned boat only communicates with its neighboring unmanned boats; during the allocation process, a two-stage optimization strategy is designed for adjusting the mission objectives of a single unmanned boat and exchanging mission objectives with neighboring unmanned boats; at the same time, a cost function including penalty items such as mission objective coverage, distance cost, and speed difference cost is established. This embodiment limits the communication range through a ring communication topology so that the unmanned boat only interacts with neighboring nodes, which can effectively reduce the communication burden of the cluster and avoid the delay and complexity caused by global communication. The unmanned boat cluster can cooperate with manned boats to generate reasonable task allocation plans in various situations, which has strong feasibility and is suitable for distributed systems such as unmanned boat clusters. This embodiment takes into account the communication burden in the task allocation process of the unmanned boat cluster, and can ensure the efficiency and quality of task allocation on the basis of reducing communication overhead. It has strong feasibility and is suitable for distributed systems such as unmanned boats and clusters.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A distributed task allocation method for manned boat-unmanned boat cluster based on average consensus, characterized in that: The steps include: S1: determining the unmanned boats that have not received the assigned tasks of the manned boats according to whether the unmanned boats in the manned boat-unmanned boat cluster have received the assigned tasks of the manned boats in the manned boat-unmanned boat cluster, so as to obtain the initial task assignment plan for the unmanned boats that have not received the assigned tasks of the manned boats, and determining the target code of the task target of the unmanned boats that have not received the assigned tasks of the manned boats; S2: According to the current position and speed of the manned boat, unmanned boat and mission target, the cost value calculation formula of the task allocation scheme is used to obtain the current The mission objective of the unmanned boat that has not received the assigned mission from the manned boat is The cost value at the task goal is used to update the The task allocation plan of the unmanned boat that has not received the assigned task of the manned boat is obtained. The index code of the updated mission target of the unmanned boat that has not received the assigned mission of the manned boat is obtained, and then the first The updated task allocation plan for the unmanned boats that have not received the assigned tasks of the manned boats; wherein, An index code representing the task objective; Indicates the total number of mission objectives; S3: Obtain neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat according to the center position coordinates of the protected area and the position coordinates of the unmanned boat that has not received the assigned task from the manned boat at the current moment; S4: The target code of the updated mission target of the unmanned boat that has not received the assigned mission from the manned boat is the same as the target code of the first The target codes of the updated mission targets of the neighboring unmanned boats of the unmanned boats that have not received the assigned tasks of the manned boats are exchanged to obtain the first Task allocation plan for unmanned boats that have not received any assigned tasks from manned boats; Indicates the index number of the unmanned boat that has not received the assigned task from the manned boat; S5: According to The cost value of the updated task allocation plan of the unmanned boat that has not received the assigned task of the manned boat, and the cost value of the first unmanned boat after exchanging the target code The cost value of the task allocation plan for the unmanned boat that has not received the assigned task from the manned boat is obtained. The target code of the mission target of the unmanned boat that has not received the assigned mission from the manned boat is used to obtain the second updated mission allocation plan; S6: When the updated task allocation plan is different from the task allocation plan after the second update, S2-S5 are re-executed based on the task allocation plan after the second update and the next moment's position and speed of the manned boats, unmanned boats and task targets in the manned boat-unmanned boat cluster; otherwise, the updated task allocation plan / the task allocation plan after the second update at this time is the final task allocation plan for the unmanned boat that has not received the assigned task from the manned boat, and the task allocation for the manned boat-unmanned boat cluster is completed.

2. The method for allocating distributed tasks of manned boat-unmanned boat clusters based on average consensus according to claim 1 is characterized in that: The calculation formula of the cost value of the task allocation scheme is as follows: ， Where: represents the value of the cost function; Indicates that the mission objective of the unmanned boat is The cost value required for each mission objective; An index code representing the task objective; Indicates the total number of mission objectives; in, ， ， ， Where: Indicates The distance between the mission target and the center of the protected area; Indicates the index code of the manned boat; Indicates the total number of manned boats; Indicates A manned boat and The decision coefficient of each task goal; Indicates the index code of the unmanned boat; represents the total number of unmanned boats; Indicates The unmanned boat and The decision coefficient of each task goal; Indicates A manned boat and The distance between the mission objectives; Indicates The position coordinates of the manned boats; Indicates The location coordinates of the mission target; Indicates the weight coefficient of the distance factor; Indicates The speed of each mission target; Indicates Speed ​​of a manned boat; Indicates the weight coefficient of speed factor; Indicates The speed of the unmanned boat; An index code representing the task objective; Indicates the total number of mission objectives; Indicates The unmanned boat and The distance between the mission objectives; Indicates The location coordinates of the unmanned boat; Indicates Assignment of tasks for manned boats; Indicates Assignment of tasks for unmanned boats.

3. The method for allocating distributed tasks of manned boat-unmanned boat clusters based on average consensus according to claim 1 is characterized in that: Update The method used for the task allocation plan of the unmanned boat that has not received the assigned task of the manned boat is as follows: When The mission objective of the unmanned boat that has not received the assigned mission from the manned boat is The cost value is the smallest when the task goal is The updated mission objective of the unmanned boat that has not received the assigned mission from the manned boat is A mission objective.

4. The method for allocating distributed tasks of manned boat-unmanned boat clusters based on average consensus according to claim 1 is characterized in that: The method used to obtain the neighboring unmanned boats of the unmanned boats that have not received the assigned tasks of the manned boats is as follows: First, according to the calculation formula of the azimuth of the unmanned boat, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the unmanned boat that has not received the assigned task from the manned boat and the counterclockwise direction of the east direction is obtained to obtain the azimuth of the unmanned boat that has not received the assigned task from the manned boat; Secondly, the azimuths of the unmanned boats that have not received the assigned tasks of the manned boats are arranged in order from small to large to obtain the ascending sequence of the angles. ,in, The first in the ascending sequence of the angles elements, namely, the azimuth of the unmanned boat that has not received the assigned task from the manned boat in the ascending sequence of angles; is the total number of elements in the angle ascending sequence, that is, the total number of unmanned boats that have not received the assigned tasks of manned boats; Indicates the index number of the unmanned boat that has not received the assigned task from the manned boat; Then, the neighbor unmanned boats of the first unmanned boat in the angle ascending sequence that has not received the assigned task from the manned boat are: the second unmanned boat in the angle ascending sequence that has not received the assigned task from the manned boat and the first unmanned boat in the angle ascending sequence. An unmanned boat that has not received any assigned mission from a manned boat; The first The neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat are: The unmanned boat that has not received the assigned task of the manned boat and the first unmanned boat in the ascending sequence of the angle An unmanned boat that has not received any assigned mission from a manned boat; The first The neighboring unmanned boats of the unmanned boat that has not received the assigned task from the manned boat are: The first unmanned boat that has not received the assigned task from the manned boat and the first unmanned boat in the ascending sequence of angles that has not received the assigned task from the manned boat.

5. The method for allocating distributed tasks of manned boat-unmanned boat clusters based on average consensus according to claim 4 is characterized in that: The calculation formula of the unmanned boat azimuth is as follows: ， Where: It represents the angle between the ray pointing from the center position coordinate of the protected area to the position coordinate of the unmanned boat and the counterclockwise direction of the east direction, that is, the azimuth of the unmanned boat; Indicates The vertical coordinate of the two-dimensional space of the position of the unmanned boat; Indicates The horizontal coordinate of the two-dimensional space of the position of the unmanned boat; Indicates the horizontal coordinate value of the two-dimensional space of the center position of the protected area. Indicates the vertical coordinate value of the two-dimensional space of the center position of the protected area.

Images