无人机集群任务规划与协同系统架构

doi:10.12382/bgxb.2023.0822

摘要/Abstract

摘要：

针对无人机集群任务规划与协同控制面临的规模可扩展、任务多样化、指控互操作等新需求新挑战,界定了无人机集群任务规划与协同系统架构概念与内涵;从集群拓扑组织方式入手分析了集群任务规划与协同系统架构发展现状;在此基础上,提出了混合式无人机集群任务规划与协同系统架构设计方法,建立了分布式扁平化体系架构总体设计方法、自适应演化与自组织重构机制和事件驱动的协同触发机制。采用层次化设计思想,设计了系统底层控制层、高层控制层、协调层、通信层和人机交互层五层次结构。研究结果表明,相比于现有方法,提出的体系架构和设计方法充分考虑了单体间的组织方式、信息交互模式和互操作等集群间的基础性问题,为无人机集群任务规划与协同系统架构设计提供了理论支撑和设计参考。

关键词: 无人机集群, 任务规划, 协同系统, 体系架构

Abstract:

In view of the new requirements and challenges faced by unmanned aerial vehicle (UAV) cluster task planning and collaborative control, such as scalable scale, diversified tasks and charge interoperability, the concept and connotation of UAV cluster task planning and collaborative system architecture are defined. The development status of the system architecture is analyzed from the perspective of the topology organization of UAV clusters. On this basis, a design methodoftask-oriented hybrid UAV cluster task planning and collaborative system architecture is proposed, and an overall design method of distributed flat architecture, anadaptive evolution and self-organization reconstruction mechanism and an event-driven collaborative trigger mechanism are established. Finally, the hierarchical design idea is adopted to design the five hierarchical structures of heterogeneous cluster system, namely, bottom control layer, top control layer, intelligent coordination layer, communication and network layer, and command and control layer. Compared to existing methods, the proposed architecture fully considers the fundamental issues of organization, information exchange patterns, and interoperability between individual clusters, which provides theoretical support and design reference for the design of UAV cluster task planning and collaborative system architecture.

Key words: UAV cluster, task planning, collaborative system, system architecture

中图分类号:

V279

刘大卫, 翟俊达, 魏蓝, 郭牧天, 林时尧, 黄品华, 王晓悦. 无人机集群任务规划与协同系统架构[J]. 兵工学报, 0, (): 191-198.

LIU Dawei, ZHAI Junda, WEI Lan, GUO Mutian, LIN Shiyao, HUANG Pinhua, WANG Xiaoyue. UAV Cluster Task Planning and Collaborative System Architecture[J]. Acta Armamentarii, 0, (): 191-198.

图/表 6

参考文献 23

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组织方式	内涵	优点	缺点
集中式	有中心节点。各节点将状态信息传给中心节点;中心节点集中决策并将结果传输给其他节点执行。	可获得最优解; 全局信息一致。	单点失效; 计算/通信量较高; 算法复杂度高; 不适宜大规模。
分布式	无中心节点。各平台将状态信息和邻域交互,并基于局部领域信息,分布式决策执行。	计算/通信量较低; 可扩展性强; 适宜大规模。	难以获得最优解; 全局信息不一致。
集散式	有中心节点。在没有收到中心节点指令情况下,集群进行分布式决策。同时,控制中心亦可以集中决策并将结果传输给其他节点执行。	集中式与分布式相结合。	构建方式较为复杂; 信息交互较多。

组织方式	内涵	优点	缺点
集中式	有中心节点。各节点将状态信息传给中心节点;中心节点集中决策并将结果传输给其他节点执行。	可获得最优解; 全局信息一致。	单点失效; 计算/通信量较高; 算法复杂度高; 不适宜大规模。
分布式	无中心节点。各平台将状态信息和邻域交互,并基于局部领域信息,分布式决策执行。	计算/通信量较低; 可扩展性强; 适宜大规模。	难以获得最优解; 全局信息不一致。
集散式	有中心节点。在没有收到中心节点指令情况下,集群进行分布式决策。同时,控制中心亦可以集中决策并将结果传输给其他节点执行。	集中式与分布式相结合。	构建方式较为复杂; 信息交互较多。