| 无人机群对多目标执行多任务的协同规划方法 |
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| 引用本文： | 卫钊丞,刘卫东,张小明,樊宇韬.无人机群对多目标执行多任务的协同规划方法[J].机械与电子,2021,39(6):76-80. |
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| 作者姓名： | 卫钊丞 刘卫东 张小明 樊宇韬 |
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| 作者单位： | 火箭军工程大学,陕西 西安 ７１００２５ |
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| 摘 要： | 为了减少无人机群对多目标执行多项任务的航程,提高任务规划的稳定性,提出了基于保留潜力蜜源人工蜂群算法的协同任务规划方法( RPSABC 算法).建立了无人机群协同任务规划的约束条件和目标函数;分析了基本人工蜂群算法原理;提出了动态选择策略,观察蜂选择蜜源时兼顾优质蜜源和潜力蜜源,利于算法寻优;使用 Metropolis 准则改进蜜源选择策略,有利于算法跳出局部最优、保留潜在最优;基于以上改进,提出了保留潜力蜜源人工蜂群算法的无人机群协同任务规划方法.仿真验证结果表明:RPSABC算法收敛迭代次数比 ROABC 算法、 ABC 算法分别减少３１.９％ 、４０.４％ ;目标函数收敛均值分别下降了５.２％ 和１９.０％ ; RPSABC 算法的收敛值标准差最小,说明此算法稳定性最好.
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| 关 键 词： | 无人机群 协同任务规划 人工蜂群算法 动态选择策略 Metropolis 准则 |
Collaborative Planning Method of Unmanned Air Vehicle Group Executing Multi-task on Multi-target |
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| WEI Zhaocheng,LIU Weidong,ZHANG Xiaoming,FAN Yutao.Collaborative Planning Method of Unmanned Air Vehicle Group Executing Multi-task on Multi-target[J].Machinery & Electronics,2021,39(6):76-80. |
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| Authors: | WEI Zhaocheng LIU Weidong ZHANG Xiaoming FAN Yutao |
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| Affiliation: | ( Rocket Force University of Engineering , Xi ’an ７１００２５ , China ) |
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| Abstract: | In order to lessen UAV voyage when UAV group execute multi-task on multi-target and improve task planning stability , collaborative task planning task based on retaining potential source artificial bee colony algorithm ( RPSABC ) is put forward．Constraint condition and objective function of UAV group collaborative task planning are built．Principle of basic artificial bee colony algorithm is analyzed．Dynamic selection strategy is proposed , so that onlookers can balance high-quality honey source and potential honey source, which benefits algorithm optimization．Metropolis Guidelines is used to improve honey source choosing strategy ,which benefits to jump out of local optimization and keep the potential optimality．Based on the three improved aspects ,UAV group collaborative task plan method based on retaining potential source artificial bee colony is given．Simulation is used to clarify the method ,and convergence iterations of RPSABC algorithm decrease by３１.９％and４０.４％ compared with ROABC and ABC algorithm. The mean of convergence value falls by ５.２％ and ５.９％ compared with the other two algorithms．Convergence value standard deviation of RPSABC is maximum , which means stability of RPSABC algorithm is best． |
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| Keywords: | unmanned air vehicle group collaborative task planning artificial bee colony algorithm dynamic selection strategy Metropolis guidelines |
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