Distributed Task Allocation & Coordination Technique of Multiple UCAVs for Cooperative Tasks
-
摘要: 对多架无人作战飞机 (Unmanned combat aerial vehicle, UCAV) 分布式控制中的任务分配与任务协调问题开展研究. 采用合同网实现任务执行过程中的任务分配. 通过对合同网进行扩展, 使 UCAV 能够在招标和竞标的同时处理任务间的时间约束. 设计了一种新的部分全局规划协商机制, 能够更有效地对执行相关任务的 UCAV 的任务计划进行协调. 通过 Petri 网建模方法, 将两种协商机制模型化为 Petri 网并分析了协商过程的正确性与协商结果的可行性. 仿真实验验证了方法的有效性.Abstract: The task allocation and task coordination problem for multiple unmanned combat aerial vehicles (UCAVs) distributed control is studied. Firstly, the contract net is expanded to resolve task allocation during task execution process. Thus UCAVs can deal with the temporal constraints among tasks when participating in auction and bid. Then, partial global planning is improved to coordinate the task plans of the UCAVs that perform correlative tasks. The two types of negotiation mechanisms are modeled with Petri nets, and the correctness of the negotiation process and the feasibility of the negotiation result are analyzed. Simulation results demonstrate the validity of our approaches.
-
计量
- 文章访问数: 2340
- HTML全文浏览量: 97
- PDF下载量: 1954
- 被引次数: 0