| 基于SEAD任务特性约束的协同任务分配方法 |
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| 引用本文： | 吴蔚楠,关英姿,郭继峰,崔乃刚. 基于SEAD任务特性约束的协同任务分配方法[J]. 控制与决策, 2017, 32(9): 1574-1582 |
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| 作者姓名： | 吴蔚楠 关英姿 郭继峰 崔乃刚 |
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| 作者单位： | 哈尔滨工业大学航天工程系,哈尔滨150001,哈尔滨工业大学航天工程系,哈尔滨150001,哈尔滨工业大学航天工程系,哈尔滨150001,哈尔滨工业大学航天工程系,哈尔滨150001 |
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| 摘 要： | 以多异构无人机执行SEAD任务为背景,开展协同任务分配问题建模、算法设计和仿真分析.采用图论的方法完成问题的建模,将无人机本体等效为Dubins Car模型,并对其在相应目标处执行侦查、打击、评估任务时的进入角度进行约束,通过Dubins路径完成对无人机飞行路径的等效,采用分布式遗传算法完成对问题的快速求解.研究结果表明,带有路径末端角度约束的任务分配问题具有较好的实用意义,分布式遗传算法可有效处理实时任务分配问题,完成任务空间的快速决策.
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| 关 键 词： | 异构无人机 Dubins 协同任务分配 SEAD 任务约束 分布式遗传算法 |
Research on cooperative task assignment method used to the mission SEAD with real constraints |
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| WU Wei-nan,GUAN Ying-zi,GUO Ji-feng and CUI Nai-gang. Research on cooperative task assignment method used to the mission SEAD with real constraints[J]. Control and Decision, 2017, 32(9): 1574-1582 |
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| Authors: | WU Wei-nan GUAN Ying-zi GUO Ji-feng CUI Nai-gang |
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| Affiliation: | Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,China,Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,China,Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,China and Department of Astronautics Engineering,Harbin Institute of Technology,Harbin 150001,China |
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| Abstract: | In the background of heterogeneous UAVs performing suppression of enemy air defences(SEAD) mission, this paper establishes the models for the cooperative task assignment problem, designs the solving algorithm, and carries out the simulation analysis. Firstly, the paper employs the graph theory to transform the problem to a directed graph, and uses the Dubins Car model to stand for the UAV''s kinematic model. Then, the paper takes the constraints of the subtask including searching, verifing and attacking. Furthermore, the paper adopts a distributed framework to the genetic algorithm in order to improve the operation efficiency of the algorithm. Finally, simulation results show the practicability of the proposed algorithm. |
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