复杂多约束UAVs协同目标分配的一种统一建模方法

赵明; 苏小红; 马培军; 赵玲玲

doi:10.3724/SP.J.1004.2012.02038

复杂多约束UAVs协同目标分配的一种统一建模方法

doi: 10.3724/SP.J.1004.2012.02038

1.
哈尔滨工业大学计算机科学与技术学院哈尔滨 150001

详细信息

通讯作者:
赵明

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- 被引次数: 0
出版历程
- 收稿日期: 2012-02-29
- 修回日期: 2012-07-25
- 刊出日期: 2012-12-20

A Unified Modeling Method of UAVs Cooperative Target Assignment by Complex Multi-constraint Conditions

1.
School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001

摘要

摘要: 多无人机协同目标分配(Multi-UAVs cooperative target assignment problem, MUCTAP)是一个条件复杂的多模型、多约束组合优化问题, 很难用一致的方法获得可行的解. 为解决该问题, 本文对各种目标分配模型统一建模, 设计了一致的模型处理方法; 针对三维环境特点, 提出利用空间垂直切面计算无人机估计航程代价的方法, 并利用航程代价矩阵优化目标分配算法; 同时加入协同约束关系计算, 提高分配算法的准确性. 仿真实验验证了该方法能够处理多种情况的目标分配问题, 具有较高的通用性和准确性, 能够有效完成多机协同目标分配任务.
- 协同目标分配 /
- 航程代价 /
- 目标分配模型 /
- 三维环境信息 /
- 多无人机
Abstract: The multi-UAVs cooperative target assignment problem (MUCTAP) is a condition-complicated multi-models and multi-constraint combinatorial optimization problem, and it difficult to get a feasible solution by unified processing method. In order to solve this problem, a uniform model has been built for all kinds of unmanned aerial vehicles (UAVs) target assignment situations in this paper. We also design the unified processing method so that it can handle different types of MUCTAP. Considering the 3D environmental character, we present a method for MUCTAP by using spatially vertical section to compute the cost of flight path length, and apply the cost matrix of flight path length to optimize the target assignment algorithm. We also add the collaborative constraint relation to compute, so that it can improve the target assignment algorithm's accuracy. Simulation results show that this model can adapt to a variety of target assignment problems, and it has a high universality and accuracy. So it can effectively accomplish the task of MUCTAP.
- Cooperative target assignment /
- cost of flight path length /
- target assignment model /
- 3D environment information /
- multi-UAVs

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[1]

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