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多無(wú)人機協(xié)同目標分配與航跡規劃
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福州大學(xué)

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Multi-UAV collaborative target allocation and track planning
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    摘要:

    多無(wú)人機的協(xié)同目標分配是一個(gè)多模型、多約束的組合優(yōu)化問(wèn)題,其解空間隨無(wú)人機的數量成指數上升。當以無(wú)人機協(xié)同目標分配的角度解決無(wú)人機編隊切換的問(wèn)題時(shí),標準的匈牙利算法存在單個(gè)無(wú)人機飛行路徑過(guò)長(cháng)的問(wèn)題,導致個(gè)別無(wú)人機的電量下降迅速,因此相較于其他無(wú)人機會(huì )提前降落,而且會(huì )導致其他無(wú)人機在編隊切換過(guò)程中等待時(shí)間過(guò)長(cháng),進(jìn)而影響整體編隊飛行時(shí)長(cháng)。考慮到無(wú)人機的工作環(huán)境處于三維空間及其編隊切換時(shí)間的協(xié)同性,本文提出了改進(jìn)的匈牙利算法,以保證在無(wú)人機飛行總移動(dòng)距離盡可能小的前提下,減小單個(gè)無(wú)人機的最大移動(dòng)距離,從而延長(cháng)整個(gè)編隊的飛行時(shí)長(cháng)。經(jīng)仿真對比多種算法,驗證了該算法相較于匈牙利算法等其他算法具有更好的效果,能夠很好的解決多無(wú)人機的編隊切換問(wèn)題

    Abstract:

    The collaborative target allocation of multiple drones is a combinatorial multi-model, multi-constrained optimization problem, whose solution space rises exponentially with the number of drones. When from the perspective of UAV(Unmanned Aerial Vehicle)collaborative target allocation to solve the problem of UAV formation switching, the standard Hungarian algorithm of a single drone flight path is too long, lead to individual drones power drops rapidly, so compared with other drones will land early, and will lead to other drones waiting time in the process of formation switching is too long, and then affect the overall formation flight time. Considering that the working environment of the UAV is in three D space and the cooperativity of formation switching time, this paper proposes an improved Hungarian algorithm, which can reduce the maximum movement distance of the single UAV as small as possible to prolong the flight time of the whole formation. By comparing various algorithms, the proposed algorithm has better results in this problem, and can well solve the formation switching problem of multiple drones.

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許先靜,姜海燕.多無(wú)人機協(xié)同目標分配與航跡規劃計算機測量與控制[J].,2023,31(1):127-132.

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歷史
  • 收稿日期:2022-04-27
  • 最后修改日期:2022-05-25
  • 錄用日期:2022-05-26
  • 在線(xiàn)發(fā)布日期: 2023-01-16
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