多目标群多基地多无人机协同任务规划
|
摘要
针对多目标群多基地多无人机协同任务规划问题,提出了一种周期性快速搜索遗传算法。以侦察任务为背景,将共同分配策略引入到任务规划中来,构建了多无人机协同侦察任务规划决策数学模型,并运用提出的周期性快速搜索遗传算法求解多无人机协同侦察任务规划问题。通过仿真算例,验证了模型的有效性和算法的合理性,与单亲遗传算法、传统遗传算法求解相比,周期性快速搜索遗传算法求解效率快且精度高。
Aimed the problem of collaborative mission planning of multi-target group multi-base multi-UAV, a periodic fast search genetic algorithm(PFSGA) is proposed. For the task of reconnaissance, this paper introduces the common assignment strategy into the mission planning, builds the multi-UAV collaborative reconnaissance mission planning mathematical model and applies the PFSGA to solve the multi-UAV collaborative reconnaissance mission planning problem. Simulation example verified the validity of the modal and the rationality of the algorithm. The comparison with the single parent genetic algorithm and the traditional genetic algorithm, the PFSGA is more efficient and accurate.
Aimed the problem of collaborative mission planning of multi-target group multi-base multi-UAV, a periodic fast search genetic algorithm(PFSGA) is proposed. For the task of reconnaissance, this paper introduces the common assignment strategy into the mission planning, builds the multi-UAV collaborative reconnaissance mission planning mathematical model and applies the PFSGA to solve the multi-UAV collaborative reconnaissance mission planning problem. Simulation example verified the validity of the modal and the rationality of the algorithm. The comparison with the single parent genetic algorithm and the traditional genetic algorithm, the PFSGA is more efficient and accurate.
引文
[1]董文洪,易波,栗飞.Memetic算法在无人机侦察航路规划中的应用[J].弹箭与制导学报,2012,32(1):211-214.
[2]欧阳志宏,李修和.基于任务区分的无人机航路规划方法[J].弹箭与制导学报,2017,37(3):114-118.
[3]LIN Lin,SUN Qibo,WANG Shangguang,et al.Research on PSO based multiple UAVs Real-Time task assignment[C]//IEEE.Proceedings of 2013 25th Chinese Control and Decision Conference(CCDC).[S.l.]:IEEE,2013:1530-1536.
[4]DU J Y,ZHANG F M,YANG J,et al.Cooperative task assignment for multiple UCAV using particle swarm optimization[J].Control and Decision,2012,27(11):1751-1755.
[5]ROBERGE V,TARBOUCHI M,LABONTE G.Comparison of parallel genetic algorithm and particle swarm optimization for Real-Time UAV path planning[J].IEEE Transactions on Industrial Informatics,2013,9(1):132-141.
[6]ZALP N,SAHINGOZ O K.Optimal UAV path planning in a 3D threat environment by using parallel evolutionary algorithms[C]//IEEE.Proceedings of 2013 International Conference on Unmanned Aircraft Systems(ICUAS).[S.l.]:IEEE,2013:308-317.
[7]李湘清,孙秀霞,王栋,等.基于遗传算法的UCAV动态任务分配模型及研究[J].系统仿真学报,2008,20(16):4387-4389.
[8]张浩森,高东阳,白羽,等.基于蚁群算法的多无人机协同任务规划研究[J].北京建筑大学学报,2017,33(2):29-34.
[9]《运筹学》教材编写组.运筹学[M].4版.北京:清华大学出版社,2012:536-540.
[10]SECREST B R.Traveling salesman problem for surveillance mission using particle swarm optimization[M].Ohio:Air Force Institute of Technology,2003:4-7.
[11]COLORNI A,DORIGO M,MANIEZZO V.Distributed optimization by ant colonies[C]//VARELA F J,BOUR-GINE P.Proceedings of First European Conference on Artificial Life.Paris:Elsevier Publishing Company,1991:134-142.
[12]KIRKPATRICK S,GELATT J D,VECCHI M P.Optimization by simulated annesling[J].Science,1983,220(4598):671-680.
[13]EBERHART R,KENNEDY J.A new optimizer using particles swarm theory[C]//IEEE.Proceedings of the Sixth International Symposium on Micro Machine and Human Science.[S.l.]:IEEE,1995:39-43.
[14]GAREY M R,JOHNSON D S.Computers and intractability:A guide to the theory of NP-completeness[M].San Francisco:W.H.Freeman&Compang,1979:90-91.
[15]万明,代忠,褚文奎.无人机扫描线区域覆盖中的转弯航迹规划[J].系统工程与电子技术,2014,36(9):1750-1754.
[16]谷佳,孙乐,孙佳艺.多无人机协同任务规划的最优路线建模[J].白城师范学院学报,2017,31(2):17-20.
[17]韦巍,何衍.智能控制基础[M].北京:清华大学出版社,2008:279-283.
[18]ZAMISKA J R,JABER M Y,KHER H V.Worker deployment in dual resource constrained systems with a tasktype factor[J].European Journal of Operational Research,2007,177(3):1507-1519.
[19]方舟子.寻找生命的逻辑:生物学观念的发展[M].上海:上海交通大学出版社,2005:45-50.
[20]冯琦,周德云.应用单亲遗传算法进行大规模UCAVS任务分配[J].火力与指挥控制,2006,33(5):18-21.
[2]欧阳志宏,李修和.基于任务区分的无人机航路规划方法[J].弹箭与制导学报,2017,37(3):114-118.
[3]LIN Lin,SUN Qibo,WANG Shangguang,et al.Research on PSO based multiple UAVs Real-Time task assignment[C]//IEEE.Proceedings of 2013 25th Chinese Control and Decision Conference(CCDC).[S.l.]:IEEE,2013:1530-1536.
[4]DU J Y,ZHANG F M,YANG J,et al.Cooperative task assignment for multiple UCAV using particle swarm optimization[J].Control and Decision,2012,27(11):1751-1755.
[5]ROBERGE V,TARBOUCHI M,LABONTE G.Comparison of parallel genetic algorithm and particle swarm optimization for Real-Time UAV path planning[J].IEEE Transactions on Industrial Informatics,2013,9(1):132-141.
[6]ZALP N,SAHINGOZ O K.Optimal UAV path planning in a 3D threat environment by using parallel evolutionary algorithms[C]//IEEE.Proceedings of 2013 International Conference on Unmanned Aircraft Systems(ICUAS).[S.l.]:IEEE,2013:308-317.
[7]李湘清,孙秀霞,王栋,等.基于遗传算法的UCAV动态任务分配模型及研究[J].系统仿真学报,2008,20(16):4387-4389.
[8]张浩森,高东阳,白羽,等.基于蚁群算法的多无人机协同任务规划研究[J].北京建筑大学学报,2017,33(2):29-34.
[9]《运筹学》教材编写组.运筹学[M].4版.北京:清华大学出版社,2012:536-540.
[10]SECREST B R.Traveling salesman problem for surveillance mission using particle swarm optimization[M].Ohio:Air Force Institute of Technology,2003:4-7.
[11]COLORNI A,DORIGO M,MANIEZZO V.Distributed optimization by ant colonies[C]//VARELA F J,BOUR-GINE P.Proceedings of First European Conference on Artificial Life.Paris:Elsevier Publishing Company,1991:134-142.
[12]KIRKPATRICK S,GELATT J D,VECCHI M P.Optimization by simulated annesling[J].Science,1983,220(4598):671-680.
[13]EBERHART R,KENNEDY J.A new optimizer using particles swarm theory[C]//IEEE.Proceedings of the Sixth International Symposium on Micro Machine and Human Science.[S.l.]:IEEE,1995:39-43.
[14]GAREY M R,JOHNSON D S.Computers and intractability:A guide to the theory of NP-completeness[M].San Francisco:W.H.Freeman&Compang,1979:90-91.
[15]万明,代忠,褚文奎.无人机扫描线区域覆盖中的转弯航迹规划[J].系统工程与电子技术,2014,36(9):1750-1754.
[16]谷佳,孙乐,孙佳艺.多无人机协同任务规划的最优路线建模[J].白城师范学院学报,2017,31(2):17-20.
[17]韦巍,何衍.智能控制基础[M].北京:清华大学出版社,2008:279-283.
[18]ZAMISKA J R,JABER M Y,KHER H V.Worker deployment in dual resource constrained systems with a tasktype factor[J].European Journal of Operational Research,2007,177(3):1507-1519.
[19]方舟子.寻找生命的逻辑:生物学观念的发展[M].上海:上海交通大学出版社,2005:45-50.
[20]冯琦,周德云.应用单亲遗传算法进行大规模UCAVS任务分配[J].火力与指挥控制,2006,33(5):18-21.