一种面向异构无人机集群的低扰动容错调度优化方法

By constructing task unit cells and dependency matrices, the problem of abnormal scheduling in heterogeneous UAV swarms during flight was solved, achieving fault-tolerant scheduling with low disturbance and fast response, thus improving the scheduling efficiency and reliability of heterogeneous UAV swarms.

CN122195041BActive Publication Date: 2026-07-17JILIN UNIVERSITY
View PDF 4 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
JILIN UNIVERSITY
Filing Date
2026-05-18
Publication Date
2026-07-17

Smart Images

  • Figure CN122195041B_ABST
    Figure CN122195041B_ABST
Patent Text Reader

Abstract

本发明属于非电变量的控制或调节系统领域，涉及一种面向异构无人机集群的低扰动容错调度优化方法，该方法构建统一执行资格评估指标，为每个基础任务单元构建候选无人机集合；将基础任务单元聚合为任务单元胞，构建胞间依赖关系；采用现有算法生成离线初始任务骨架，对任务单元胞进行离线风险评估，对每个关键任务单元胞构建容错预占位包；无人机执行任务时，若当前风险影响后续任务连续执行，则触发在线局部修复，此时释放与故障无人机关联的受影响任务单元胞，以胞间依赖关系控制释放边界，利用离线全局规划结果持续引导在线局部修复。该方法实现了异构无人机局部异常条件下的低扰动、快响应和整体可执行的容错调度。
Need to check novelty before this filing date? Find Prior Art