Method for distributed task allocation of manned and unmanned vehicle cluster based on average consensus

Abstract

The application discloses a manned boat-unmanned boat cluster distributed task allocation method based on average consensus, relates to the technical field of unmanned system cooperative control, and acquires neighbor unmanned boats of each unmanned boat, so that each unmanned boat only communicates with the neighbor unmanned boats; in the process of task allocation for a single unmanned boat which does not receive an instruction, a two-stage optimization strategy of adjusting a task target by the single unmanned boat and exchanging the task target with the neighbor unmanned boats is adopted; the unmanned boat only interacts with neighbor nodes, can effectively reduce the cluster communication burden, and avoids delay and complexity caused by global communication. The unmanned boat cluster can cooperate with the manned boat to obtain a final task allocation scheme under various conditions, can guarantee task allocation efficiency and quality on the basis of reducing communication load, has strong feasibility, is suitable for unmanned boats, cluster distributed systems and the like, and can meet complex and changeable sea operation requirements.

Description

Technical Field

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

[0002] With the increasing development of marine resources and maritime activities, swarm systems that combine manned and unmanned boats have shown great potential in areas such as marine monitoring and regional protection. Unmanned boats, equipped with various sensors, can efficiently perform large-scale, long-duration operations, while manned boats provide critical command and decision-making capabilities and complex task processing. The complementary advantages of the two can significantly improve operational efficiency and mission adaptability. With the rapid development of intelligent control technology and distributed algorithms, this collaborative operation model is gradually expanding to more application scenarios such as maritime search and rescue and resource exploration. Its flexible and scalable nature makes it an important component of future intelligent marine equipment systems. In this context, improving the task allocation efficiency of swarm systems is of great practical significance for ensuring overall collaborative effectiveness.

[0003] However, traditional centralized task allocation methods struggle to meet the complex and ever-changing demands of maritime operations due to inherent flaws such as heavy communication overhead, significant response delays, and insufficient system fault tolerance. Especially in large-scale unmanned vehicle swarm applications, global communication not only significantly increases system complexity but also severely impacts the real-time performance of task allocation due to communication delays. Summary of the Invention

[0004] The present invention discloses a distributed task allocation method for a manned boat-unmanned boat cluster 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:

[0006] A distributed task allocation method for manned and unmanned boat swarms based on average consensus includes the following steps:

[0007] S1: determining the unmanned boats that have not received the assigned tasks from the manned boats based on whether the unmanned boats in the manned boat-unmanned boat cluster have received the assigned tasks from the manned boats in the manned boat-unmanned boat cluster, obtaining the initial task assignment plan for the unmanned boats that have not received the assigned tasks from the manned boats, and determining the target codes of the task targets of the unmanned boats that have not received the assigned tasks from the manned boats;

[0008] 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 plan is used to obtain the current The mission goal of the unmanned boat that has not received the assigned mission from the manned boat is The cost value of the task target is updated The task allocation plan for the unmanned boat that has not received the assigned task from the manned boat is obtained. The updated mission target index code of the unmanned boat that has not received the assigned mission of the manned boat is obtained, and the first An updated task allocation plan for the unmanned boats that have not received any assigned tasks from manned boats;

[0009] S3: Obtain neighboring unmanned boats of the unmanned boat that has not received a task assigned by a manned boat based on the center coordinates of the protected area and the current position coordinates of the unmanned boat that has not received a task assigned by a manned boat;

[0010] 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 mission of the manned boat are exchanged to obtain the first target code after the target code is exchanged. The task allocation plan for the unmanned boats that have not received the assigned tasks from the manned boats; Indicates the index number of the unmanned boat that has not received any assigned mission from the manned boat;

[0011] S5: According to The cost value of the updated task allocation plan for the unmanned boat that has not received the assigned task from 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 codes of the mission targets of the unmanned boats that have not received the assigned missions from the manned boats are used to obtain the second updated mission allocation plan;

[0012] 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 position and speed 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.

[0013] Furthermore, the cost calculation formula of the task allocation scheme is as follows:

[0014] ,

[0015] Where:

[0016] represents the value of the cost function; Indicates that the mission objective of the unmanned boat is The cost value required for each task goal; An index code representing the task goal; Indicates the total number of mission objectives;

[0017] in,

[0018] ,

[0019] , ,

[0020] Where:

[0021] Indicates the 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 the A manned boat and the 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 the A manned boat and the The distance between the mission objectives; Indicates the Position coordinates of manned boats; Indicates the The location coordinates of the mission target; Indicates the weight coefficient of distance factor; Indicates the The speed of each mission target; Indicates the Speed ​​of a manned boat; Indicates the weight coefficient of speed factor; Indicates the The speed of the unmanned boat; An index code representing the task goal; Indicates the total number of mission objectives; Indicates the Unmanned boat and The distance between the task targets; Indicates the The location coordinates of the unmanned boat; Indicates the Assignment of tasks for manned boats; Indicates the Assignment of tasks for unmanned boats.

[0022] Further update The method used in the task allocation plan for the unmanned boats that have not received the assigned tasks from the manned boats is as follows:

[0023] When The mission goal 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 target of the unmanned boat that has not received the assigned mission from the manned boat is A mission objective.

[0024] Furthermore, the method for obtaining neighboring unmanned boats of unmanned boats that have not received the assigned task of the manned boat is as follows:

[0025] First, according to the UAV azimuth calculation formula, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the UAV 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 UAV that has not received the assigned task from the manned boat;

[0026] 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 azimuths of the unmanned boats that have not received the assigned tasks from the manned boats in the angle ascending sequence; 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 any assigned mission from the manned boat;

[0027] 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;

[0028] The first in the ascending sequence of angles 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 one in the ascending order of the angle An unmanned boat that has not received any assigned mission from a manned boat;

[0029] The first in the ascending sequence of angles 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 that has not received the assigned task of the manned boat in the ascending angle sequence.

[0030] Furthermore, the calculation formula of the azimuth angle of the unmanned boat is expressed as follows:

[0031] , where: The angle between the ray from the center of the protected area to the position of the unmanned boat and the counterclockwise direction of the east direction is the azimuth of the unmanned boat. Indicates the The vertical coordinate of the two-dimensional space of the position of the unmanned boat; Indicates the 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.

[0032] Beneficial effects: The present invention provides a distributed task allocation method for manned boat-unmanned boat clusters based on average consensus. The method 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. Each unmanned boat communicates only with its neighboring unmanned boats. In the process of assigning tasks to single unmanned boats that have not received instructions, a two-stage optimization strategy is adopted in which the single unmanned boat adjusts the task target and exchanges the task target with the neighboring unmanned boat. At the same time, a cost function is established that includes penalty items such as target coverage, distance, and speed difference. 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. It 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 needs of marine operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to 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 any creative labor.

[0034] Figure 1 This is a flow chart of a distributed task allocation method for a manned boat-unmanned boat cluster based on average consensus according to the present invention;

[0035] Figure 2 A schematic diagram of a neighbor unmanned boat in an embodiment of the present invention;

[0036] Figure 3 Schematic diagram of the communication topology of the unmanned boat cluster in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the task allocation result of Example 1 of the present invention;

[0038] Figure 5 This is a schematic diagram of the task allocation result of Example 2 of the present invention;

[0039] Figure 6 This is a schematic diagram of the task allocation result of Example 3 of the present invention;

[0040] Figure 7 This is a schematic diagram of the task allocation result of the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] This embodiment introduces a distributed task allocation method for manned boat-unmanned boat clusters based on average consensus, which is suitable for multi-agents to achieve efficient task allocation through local communication, such as Figure 1 As shown, the following steps are included:

[0043] S1: determining the unmanned boats that have not received the assigned tasks from the manned boats based on whether the unmanned boats in the manned boat-unmanned boat cluster have received the assigned tasks from the manned boats in the manned boat-unmanned boat cluster, obtaining the initial task assignment plan for the unmanned boats that have not received the assigned tasks from the manned boats, and determining the target codes of the task targets of the unmanned boats that have not received the assigned tasks from the manned boats;

[0044] Specifically, in a manned-unmanned boat swarm, the manned boats autonomously select mission targets and, at the same time, issue mission instructions to some of the unmanned boats in the swarm. In this example, the initial mission allocation plan is:

[0045] When the unmanned boat receives a task assigned by a 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;

[0046] If the unmanned boat does not receive the assigned task from the manned boat, the target code of the mission target of the unmanned boat is the index code of a random mission target.

[0047] Specifically, when there is no manned boat to When an unmanned boat issues a command, there is no manned boat to send a command to the When the 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 to When an unmanned boat issues a command, there is a A manned boat to When the target unmanned boat is assigned a mission target, obtain the first The target code of the unmanned boat is The index code of the mission target assigned to it by a manned boat;

[0048] 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 The horizontal coordinate value of the two-dimensional space of a manned boat, Indicates the The vertical coordinate value of the two-dimensional space of a manned boat, Indicates the The speed of a manned boat, Indicates the The course of a manned boat, Indicates the The maximum angular velocity of the manned boat; all the motion parameter information of each unmanned boat wherein represents the index code of the unmanned boat, represents the total number of the unmanned boats; represents the first represents the horizontal coordinate value of the two-dimensional space of the first unmanned boat, represents the vertical coordinate value of the two-dimensional space of the first unmanned boat, represents the speed of the first unmanned boat, represents the heading of the first unmanned boat, represents the maximum angular velocity of the first unmanned boat; the motion parameter information of the observable target wherein, represents the index code of the task target, represents the total number of the task targets; represents the horizontal coordinate value of the two-dimensional space of the first target, represents the vertical coordinate value of the two-dimensional space of the first target, represents the speed of the first target; represents the heading of the first target; the position information of the protected area wherein, represents the horizontal coordinate value of the two-dimensional space of the center position of the protected area, represents the vertical coordinate value of the two-dimensional space of the center position of the protected area, represents the radius of the protected area.

[0049] S2: according to the position of the manned boat, the unmanned boat and the task target at the current time and the task allocation scheme cost value calculation formula, the cost value is obtained when the task target of the first unmanned boat without receiving the allocation task of the manned boat is the first task target, so as to update the task allocation scheme of the first unmanned boat without receiving the allocation task of the manned boat, obtain the index code of the updated task target of the first unmanned boat without receiving the allocation task of the manned boat, and further obtain the updated task allocation scheme of the unmanned boat; the adjustment of the single unmanned boat task target is realized.

[0050] Preferably, the task allocation scheme cost value calculation formula is as follows:

[0051] ,

[0052] Where:

[0053] 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 task goal; An index code representing the task goal; Indicates the total number of mission objectives;

[0054] in,

[0055] ,

[0056] ,

[0057] ,

[0058] Where: Indicates the 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 the A manned boat and the The decision coefficient of the task goal is A manned boat broadcasts its mission intention and the mission intention is the first When the task goal =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 goal of the unmanned boat is When the task goal =1, when The mission objective of the unmanned boat is not When the task goal =0; Indicates the A manned boat and the The distance between the task targets; Indicates the Position coordinates of manned boats; Indicates the The location coordinates of the mission target; Indicates the weight coefficient of distance factor; the speed of the first manned boat; the speed of the first manned boat; the speed of the first unmanned boat; the speed of the first unmanned boat; the proportionality coefficient of the speed factor; the speed of the first unmanned boat; the speed of the first unmanned boat; the index code of the mission target; the total number of mission targets; the distance between the first unmanned boat and the first mission target; the position coordinates of the first unmanned boat; the distance between the first unmanned boat and the first mission target; the position coordinates of the first unmanned boat; the position coordinates of the first unmanned boat; the assigned mission of the first manned boat; the assigned mission of the first unmanned boat. the assigned mission of the first unmanned boat. The method for updating the task assignment scheme of the first unmanned boat that has not received the assigned mission of the manned boat is as follows:

[0059] When the unmanned boat has received the assigned mission of the manned boat, the task assignment scheme of the unmanned boat is not processed, and the index code of the updated mission target of the unmanned boat is still the index code of the mission target assigned by the manned boat;

[0060] When the unmanned boat has not received the assigned mission of the manned boat,

[0061] When the mission target of the first unmanned boat that has not received the assigned mission of the manned boat is the first mission target, the cost value is the smallest, and the updated mission target of the first unmanned boat that has not received the assigned mission of the manned boat is the first mission target, i.e., the index code of the updated mission target is

[0062]

[0063] S3: According to the center position coordinates of the protected area and the position coordinates of the unmanned boat that has not received the assigned mission of the manned boat at the current time, the neighbor unmanned boats of the unmanned boat that has not received the assigned mission of the manned boat are obtained.

[0064] Preferably, the method for obtaining the neighbor unmanned boats of the unmanned boat that has not received the assigned mission of the manned boat is as follows:

[0065] ​​​​​​​First, according to the UAV azimuth calculation formula, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the UAV 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 UAV that has not received the assigned task from the manned boat;

[0066] Preferably, the calculation formula of the azimuth angle of the unmanned boat is expressed as follows:

[0067] ,

[0068] Where:

[0069] The angle between the ray from the center of the protected area to the position of the unmanned boat and the counterclockwise direction of the east direction is the azimuth of the unmanned boat. Indicates the The vertical coordinate of the two-dimensional space of the position of the unmanned boat; Indicates the 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;

[0070] 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 the ascending sequence of the angles. ,in, The first in the ascending sequence of the angles elements, namely the azimuths of the unmanned boats that have not received the assigned tasks from the manned boats in the angle ascending sequence; 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;

[0071] 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;

[0072] The first in the ascending sequence of angles 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 one in the ascending order of the angle An unmanned boat that has not received any assigned mission from a manned boat;

[0073] The first in the ascending sequence of angles 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 of the manned boat and the first unmanned boat that has not received the assigned task of the manned boat in the ascending angle sequence.

[0074] Specifically, in this embodiment, based on 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, the angles are sorted in ascending order. 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;

[0075] 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 mission of the manned boat are exchanged, and the first target code after the target code is exchanged is obtained. The task allocation plan for the unmanned boats that have not received the assigned tasks from the manned boats; Indicates the index number of the unmanned boat that has not received any assigned mission from the manned boat;

[0076] S5: According to The cost value of the updated task allocation plan for the unmanned boat that has not received the assigned task from 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 codes of the mission targets of the unmanned boats that have not received the assigned missions from the manned boats are used to obtain the second updated mission allocation plan;

[0077] 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 for the unmanned boat that has not received the assigned task from the manned boat, and the cost value of the first The cost value of the task allocation plan for the unmanned boat that has not received the assigned task from the manned boat. There are two unmanned boats that have not received the assignment task of the manned boat. 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.

[0078] 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.

[0079] 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.

[0080] 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 any instructions to any unmanned boats. The task allocation results are as follows: Figure 4 As shown;

[0081] 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; and 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), with a heading angle of 207° and a speed of 5 m / s. The unmanned boats were located at (-297, 79), (-268, -110), (-164, -255), (22, -300), (192, -228), (300, -73), (267, 110), (161, 263), and (-25, 298), with heading angles of 244°, 302°, 313°, 1°, 41°, 64°, 118°, 132°, and 187°, and speeds of 7m / s, 7m / s, 7m / s, 6m / s, 6m / s, 6m / s, 6m / s, 6m / s, and 6m / s. The target boats were located at (-264, 644), (-605, -8), (-231, -653), (521, -650), (900, 3), and (516, 656). The initial heading angles are 223°, 331°, 69°, 129°, 180°, and 232°, and the speeds are 6m / s, 6m / s, 6m / s, 9m / s, 9m / s, and 9m / s, respectively.

[0082] Example 2: Information on unmanned boats, manned boats, target boats and protected areas are all included 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 target 5. The task allocation result is shown in Figure 5 shown.

[0083] Example 3: Information on 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.

[0084] Example 4: Information on unmanned boats, manned boats, target boats and protected areas are all included in 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.

[0085] By simulating the initial conditions of the four manned-unmanned vehicle swarms described above, it can be seen that in this embodiment, regardless of whether the manned vehicle communicates its intention to the unmanned vehicle via a communication link or whether the manned vehicle issues a command to the unmanned vehicle, all target vessels are assigned and in the process of being assigned. Therefore, the distributed task allocation method for manned-unmanned vehicle swarms in this embodiment fully considers the different motion characteristics and distribution of each vehicle. The number of target vessels assigned to the unmanned vehicles is relatively uniform.

[0086] 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 is established that includes penalty items such as mission objective coverage, distance cost, and speed difference cost. 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. It enables the unmanned boat cluster to cooperate with manned boats to generate reasonable task allocation plans in various situations, 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.

[0087] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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 and unmanned boat clusters based on average consensus, characterized in that: The steps include: S1: determining the unmanned boats that have not received the assigned tasks from the manned boats based on whether the unmanned boats in the manned boat-unmanned boat cluster have received the assigned tasks from the manned boats in the manned boat-unmanned boat cluster, obtaining the initial task assignment plan for the unmanned boats that have not received the assigned tasks from the manned boats, and determining the target codes of the task targets of the unmanned boats that have not received the assigned tasks from 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 plan is used to obtain the current The mission goal of the unmanned boat that has not received the assigned mission from the manned boat is The cost value of the task target is updated The task allocation plan for the unmanned boat that has not received the assigned task from the manned boat is obtained. The updated mission target index code of the unmanned boat that has not received the assigned mission of the manned boat is obtained, and the first An updated task allocation plan for the unmanned boats that have not received any assigned tasks from manned boats; Among them, the mission goal of obtaining unmanned boats is The cost values ​​required for each mission objective are as follows: Where: Indicates that the mission objective of the unmanned boat is The cost value required for each task goal; Indicates the 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 the A manned boat and the 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 the A manned boat and the The distance between the mission objectives; Indicates the Position coordinates of manned boats; Indicates the The location coordinates of the mission target; Indicates the weight coefficient of the distance factor; Indicates the The speed of each mission target; Indicates the Speed ​​of a manned boat; Indicates the weight coefficient of speed factor; Indicates the j The speed of the unmanned boat; An index code representing the task goal; Indicates the total number of mission objectives; Indicates the Unmanned boat and The distance between the mission objectives; Indicates the The location coordinates of the unmanned boat; Indicates the Assignment of tasks for manned boats Indicates the Assignment of tasks for unmanned boats; S3: Obtain neighboring unmanned boats of the unmanned boat that has not received a task assigned by a manned boat based on the center coordinates of the protected area and the current position coordinates of the unmanned boat that has not received a task assigned by a manned boat; 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 mission of the manned boat are exchanged, and the first target code after the target code is exchanged is obtained. The task allocation plan for the unmanned boats that have not received the assigned tasks from the manned boats; Indicates the index number of the unmanned boat that has not received any assigned mission from the manned boat; S5: According to The cost value of the updated task allocation plan for the unmanned boat that has not received the assigned task from 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 codes of the mission targets of the unmanned boats that have not received the assigned missions from the manned boats are 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 position and speed 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.

2. The method for distributed task allocation of manned and 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 plan 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 task goal; An index code representing the task goal; Indicates the total number of mission objectives.

3. The method for distributed task allocation of manned and unmanned boat clusters based on average consensus according to claim 1 is characterized in that: Update The method used in the task allocation plan for the unmanned boats that have not received the assigned tasks from the manned boats is as follows: When The mission goal 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 target 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 and 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 UAV azimuth calculation formula, the angle between the ray from the center position coordinate of the protected area to the position coordinate of the UAV 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 UAV 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 azimuths of the unmanned boats that have not received the assigned tasks from the manned boats in the angle ascending sequence; 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 any assigned mission 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 in the ascending sequence of angles 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 one in the ascending order of the angle An unmanned boat that has not received any assigned mission from a manned boat; The first in the ascending sequence of angles 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 of the manned boat and the first unmanned boat that has not received the assigned task of the manned boat in the ascending angle sequence.

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