多目标空地异构无人系统协同任务分配方法

范博洋; 赵高鹏; 薄煜明; 吴祥

doi:10.12382/bgxb.2022.0095

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多目标空地异构无人系统协同任务分配方法

更新时间：2025-08-18

- 多目标空地异构无人系统协同任务分配方法
- Collaborative Task Allocation Method for Multi-Target Air-Ground Heterogeneous Unmanned System
- 兵工学报 2023年44卷第6期页码：1564-1575
- 作者机构：
  
  南京理工大学自动化学院, 江苏南京 210094
- 作者简介：
  
  *邮箱: zhaogaopeng@njust.edu.cn
- 基金信息：
- DOI：10.12382/bgxb.2022.0095
  中图分类号：
- 收稿：2022-02-19，
  
  网络首发：2023-07-19，
  
  纸质出版：2023-06-30
- 稿件说明：
移动端阅览
范博洋, 赵高鹏, 薄煜明, 等. 多目标空地异构无人系统协同任务分配方法[J]. 兵工学报, 2023,44(6):1564-1575.

Boyang FAN, Gaopeng ZHAO, Yuming BO, et al. Collaborative Task Allocation Method for Multi-Target Air-Ground Heterogeneous Unmanned System[J]. Acta Armamentarii, 2023, 44(6): 1564-1575.
范博洋, 赵高鹏, 薄煜明, 等. 多目标空地异构无人系统协同任务分配方法[J]. 兵工学报, 2023,44(6):1564-1575. DOI： 10.12382/bgxb.2022.0095.

Boyang FAN, Gaopeng ZHAO, Yuming BO, et al. Collaborative Task Allocation Method for Multi-Target Air-Ground Heterogeneous Unmanned System[J]. Acta Armamentarii, 2023, 44(6): 1564-1575. DOI： 10.12382/bgxb.2022.0095.

摘要

针对由地面无人车与多无人机组成的空地异构无人系统面向大范围、多目标的协同任务分配问题

以无人系统完成任务时间为优化目标

同时考虑无人机收放、续航能力以及任务时序等约束条件

建立空地异构无人系统的任务分配模型

提出一种多目标空地异构无人系统任务分配方法。结合密度值最大聚类和混合粒子群优化算法

对空地异构无人系统的任务分配问题进行求解

从而得到满足约束条件的全局任务分配结果;通过仿真实验对所提方法进行验证。实验结果表明

该方法能够有效地求解在不同作战环境中的空地异构无人系统的任务分配问题。

Abstract

To address the collaborative task allocation problem of air-ground heterogeneous unmanned systems composed of ground unmanned vehicles (UGV) and unmanned aerial vehicles (UAVs) facing large ranges and multiple targets

the task allocation model of air-ground heterogeneous unmanned systems is established with the completion time of the unmanned systems as the optimization goal and the constraints of the UAV launch and recovery

endurance and task sequence taken in account. A task allocation method for multi-target air-ground heterogeneous unmanned systems is proposed

which combines density peak clustering and hybrid particle swarm optimization algorithm (hybrid-PSO) to solve the task allocation problem of air-ground heterogeneous unmanned systems

so as to obtain the global task allocation results that satisfy the constraints. The proposed method is verified by simulation experiments

and the results show that the method can effectively solve the task allocation problem of air-ground heterogeneous unmanned systems in different operational environments.

关键词

Keywords

references

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