基于拍卖方法的多UAV任务分配
首发时间:2008-01-15
摘要:任务分配是多无人飞机(UAV)协同控制的核心和有效保证。针对多UAV系统分布式的特点,将拍卖的分配方法引入多UAV的任务分配中,通过招标、投标、中标过程实现动态分布式的任务分配和任务重分配。将无人机任务负载系数作为约束条件引入任务分配过程,通过平衡系统中各个UAV的负载系数达到控制整个任务分配过程的目的。仿真实验表明,这种通过任务负载系数控制的拍卖形式的任务分配方法能够快速有效的实现多UAV多任务系统的任务分配和重分配,同时能在系统的任务效能和UAV任务负载之间取得平衡。
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An Auction Based Method for Multi-UAV Task Allocation
Abstract:Task allocation is one of the core steps to effectively exploit the capabilities of cooperative control of multi-UAV. In view of the characteristic of the multi-UAV system ,we build up a dynamic and completely distributed multi-UAV task allocation algorithm based on auction method .We introduce a parameter called load coefficient in order to equilibrate the workload between the different UAVs, and to control the allocation process . Tests run in simulation quantify the benefits of our improvements.
Keywords: multi-UAV system task allocation auction load coefficient
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No.1810218707212003****
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