不确定环境下多无人机编队任务分配方法研究

发布时间：2018-05-12 02:26

本文选题：多无人机编队 + 任务分配　；参考：《合肥工业大学》2017年硕士论文

【摘要】：无人机在军用与民用领域的应用日渐广泛,无人机的应用模式也在不断的发展,由单架无人机应用模式逐渐向多架无人机组成编队联合执行任务模式发展过渡。现代战场环境,是一种不确定的环境,不确定环境对无人机编队应用提出了新的技术挑战。本文研究了多编队无人机群在不确定环境下的任务分配问题,以最大化任务分配效益为目标,采用合同网双层协商方法对多无人机编队进行任务分配。具体工作如下:(1)对无人机编队任务分配的方法与求解算法进行了描述和分析,设计了无人机编队任务分配的合同网双层协商方法,将无人机编队任务分配问题分为两个阶段,即编队间分配和编队内分配。(2)为分析不确定环境对于任务分配效益的影响,通过对战场环境各要素的分析,得到若干关键因素,由这些关键要素组合出各种可能的战场环境,实现不确定的量化。(3)运用影响图的效益评估方法,评估执行任务效益结果,作为目标任务在编队间与编队内的双层协商机制的协商依据。在上述工作的基础上,本文通过仿真实验验证了该任务分配方法的可行性和有效性。
[Abstract]:Unmanned aerial vehicle (UAV) has been widely used in military and civilian fields, and the application mode of UAV has been developing constantly, from single UAV application mode to multi-UAV formation joint mission mode. Modern battlefield environment is a kind of uncertain environment, which poses a new technical challenge to UAV formation application. In this paper, the task assignment problem of multi-formation UAVs in uncertain environment is studied. In order to maximize the benefit of task allocation, the two-layer negotiation method of contract net is used for task allocation of multi-UAV formation. The main work is as follows: (1) the method and algorithm of UAV formation task assignment are described and analyzed. The contract net double layer negotiation method of UAV formation task allocation is designed, and the task assignment problem of UAV formation is divided into two stages. In order to analyze the effect of uncertain environment on the benefit of task allocation, some key factors are obtained by analyzing the elements of battlefield environment. Using the benefit evaluation method of the impact diagram to evaluate the benefit result of the execution task, it can be used as the negotiation basis of the two-layer negotiation mechanism between the target mission and the formation. On the basis of the above work, the feasibility and effectiveness of the method are verified by simulation experiments.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：E122

【相似文献】