基于多基因遗传算法的异构多无人机协同任务分配

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英文篇名：Cooperative multiple task assignment for heterogeneous multi-UAVs with multi-chromosome genetic algorithm 作者：田震 ; 王晓芳 英文作者：TIAN Zhen;WANG Xiao-fang;School of Aerospace Engineering,Beijing Institute of Technology; 关键词：异构多无人机 ; 协同任务分配 ; 遗传算法 ; Dubins路径 英文关键词：heterogeneous multi-UAVs;;cooperative task assignment;;genetic algorithm;;Dubins path 中文刊名：FHLX 英文刊名：Flight Dynamics 机构：北京理工大学宇航学院; 出版日期：2018-11-07 16:58 出版单位：飞行力学 年：2019 期：v.37;No.165 基金：国家自然科学基金资助(11502019) 语种：中文; 页：FHLX201901008 页数：6 CN：01 ISSN：61-1172/V 分类号：42-47

摘要

以异构多无人机对多目标执行侦查、攻击和评估任务为背景,开展协同任务分配问题建模、算法设计和仿真分析。综合考虑异构无人机任务执行能力、任务执行时序和自身运动学等约束,同时考虑各无人机机载弹药毁伤概率因素,建立以任务执行时间和攻击收益为综合性能指标的任务分配优化模型,提出避免产生"死锁"现象的基于多类型基因编码的改进遗传算法,实现对协同任务分配问题的求解。基于任务分配方案和无人机的最小转弯半径,采用Dubins路径协调方法,生成无人机的可飞航迹。仿真结果表明,改进遗传算法可快速有效地求解多约束条件下异构多无人机协同任务分配问题,基于Dubins路径协调可为每个无人机生成完整的可飞航迹。
        With the background of heterogeneous multi-UAVs performing multi-targets detection,attack and assessment tasks,the modeling,algorithm design and simulation analysis of cooperative task assignment problems were carried out. Considering the constraints of task execution capability,task execution timing and UAV kinematics,what's more,with the consideration of UAV damage ability,the optimum model of multi-task assignment was established with the index function built based on task execution time and attack profit. An improved genetic algorithm based on multi-types gene coding was proposed,which can avoid the phenomenon of "deadlock"and solve the optimum problem of cooperative task assignment.Based on the task assignment scheme and the minimum turning radius of the UAV,the Dubins path was used to generate the UAV's flight path. Simulation results show that the improved genetic algorithm can solve the problem of multi-constrained heterogeneous multi-UAVs cooperative task assignment quickly and efficiently,and a complete flyable path for each UAV is got through the design of Dubins path.

引文

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