Collaborative Task Allocation Method for Multi-Target Air-Ground Heterogeneous Unmanned System

被引：0
|
作者：
Fan B. [1 ]
Zhao G. [1 ]
Bo Y. [1 ]
Wu X. [1 ]
机构：
[1] School of Automation, Nanjing University of Science and Technology, Jiangsu, Nanjing
来源：
Binggong Xuebao/Acta Armamentarii | 2023年 / 44卷 / 06期
关键词：
density peak clustering algorithm; hybrid particle swarm optimization algorithm; task allocation; unmanned system;
D O I：
10.12382/bgxb.2022.0095
中图分类号：
学科分类号：
摘要：
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. © 2023 China Ordnance Society. All rights reserved.
引用
收藏
页码：1564 / 1575
页数：11
相关论文
共 20 条
  • [1] WU W L, ZHOU X S, SHEN B, Et al., A review of swarm robotic systems property evaluation, Acta Automatica Sinica, 46, 13, pp. 1-20, (2020)
  • [2] DENG Q B, YU J Q, WANG N F., Cooperative task assignment of multiple heterogeneous unmanned aerial vehicles using a modified genetic algorithm with multi-type genes [ J], Chinese Journal of Aeronautics, 26, 5, pp. 1238-1250, (2013)
  • [3] GARONE E, NALDI R, CASAVOLA A, Et al., Cooperative mission planning for a class of carrier-vehicle systems [ C ], Proceedings of the 49th IEEE Conference on Decision and Control, pp. 1354-1359, (2010)
  • [4] WU W N, WANG X G, CUI N G., Fast and coupled solution for cooperative mission planning of multiple heterogeneous unmanned aerial vehicles, Aerospace Science and Technology, 79, pp. 131-144, (2018)
  • [5] CHEN M Q, CHEN Y, CHEN Z H, Et al., Path planning of UAV-UGV heterogeneous robot system in road network [ C ], Proceedings of International Conference on Intelligent Robotics and Applications, pp. 497-507, (2019)
  • [6] BAE J, PARK M., A heuristic for efficient coordination of multiple heterogeneous mobile robots considering workload balance [ J], IEEE Robotics and Automation Letters, 6, 2, pp. 4064-4070, (2021)
  • [7] BAE J, LEE J, CHUNG W., A heuristic for task allocation and routing of heterogeneous robots while minimizing maximum travel cost [ C ], Proceedings of 2019 International Conference on Robotics and Automation, pp. 4531-4537, (2019)
  • [8] ZHANG Y F, LIN D F, ZHENG D, Et al., Task allocation and trajectory optimization of UAV for multi-target time-space synchronization cooperative attack, Acta Armamentarii, 42, 7, pp. 1482-1495, (2021)
  • [9] MURRAY C C, CHU A G., The flying sidekick traveling salesman problem: Optimization of drone-assisted parcel delivery, Transportation Research Part C: Emerging Technologies, 54, pp. 86-109, (2015)
  • [10] HA Q M, DEVILLE Y, PHAM Q D, Et al., On the min-cost traveling salesman problem with drone, Transportation Research Part C: Emerging Technologies, 86, pp. 597-621, (2018)
12