PSO-based Optimal Task Allocation for Cooperative Timing Missions

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• 作者：Gyeongtaek Oh^* ; ^{laimo@snu.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Youdan Kim^** ; ^{ydkim@snu.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Jaemyung Ahn^*** ; ^{jaemyung.ahn@kaist.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Han-Lim Choi^**** ; ^{hanlimc@kaist.ac.kr" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Task allocation ; Multi-UAV planning ; PSO ; Cooperative timing mission ; Cooperative control
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：17
• 页码：314-319
• 全文大小：570 K

文摘

An optimal task allocation algorithm based on Particle swarm optimization (PSO) is proposed for cooperative timing missions that require involvement of multiple agents. The optimal solution can be utilized in the centralized operation of multi-agent system as well as a benchmark solution of the decentralized task allocation algorithm. However, the optimal solution requires significant computations because this problem is known as NP-hard. Therefore, PSO-based approach can be an alternative because it can be used to obtain a near optimal solution with reduced computational load. In this study, the conventional PSO-based algorithm is modified by adopting graph theory. Numerical simulations are carried out to demonstrate the performance of the proposed algorithm.