CN106681358A - Centralized unmanned aerial vehicle formation distributing method and device - Google Patents
Centralized unmanned aerial vehicle formation distributing method and device Download PDFInfo
- Publication number
- CN106681358A CN106681358A CN201710124273.0A CN201710124273A CN106681358A CN 106681358 A CN106681358 A CN 106681358A CN 201710124273 A CN201710124273 A CN 201710124273A CN 106681358 A CN106681358 A CN 106681358A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- target
- action scheme
- frame
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 25
- 230000009471 action Effects 0.000 claims abstract description 155
- 230000008901 benefit Effects 0.000 claims abstract description 83
- 230000000694 effects Effects 0.000 claims description 9
- 238000005265 energy consumption Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000012217 deletion Methods 0.000 description 3
- 230000037430 deletion Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000012935 Averaging Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920001200 poly(ethylene-vinyl acetate) Polymers 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to a centralized unmanned aerial vehicle formation distributing method and device. The method comprises the following steps: calculating a benefit value of each action plan in each target execution action plan gather in each unmanned aerial vehicle in an unmanned aerial vehicle formation for a target gather; calculating the cost of the unmanned aerial vehicle to the target execution action plan; calculating a net benefit value of the unmanned aerial vehicle which executes the action plan for a target; and determining targets distributed for each unmanned aerial vehicle and action plans executed to the distributed targets according to the net benefit values and the preset constraint condition. By the centralized unmanned aerial vehicle formation distributing method and device, the benefit values of the unmanned aerial vehicles which execute the action plans for the targets are determined at first, then the cost of task execution of the unmanned aerial vehicles is calculated, the net benefit values are determined according to the benefit values and the cost, finally, the targets are distributed and the action plans are determined according to the net benefit values and the constraint condition, and therefore, the technical problem that tasks are difficultly distributed for the unmanned aerial vehicle formation in the prior art is solved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of centralized unmanned plane formation method for allocating tasks and
Device.
Background technology
With the development of unmanned air vehicle technique, unmanned, the inexpensive, high maneuverability having because unmanned plane is natural etc. it is excellent
Point, its range of application are more and more wider, such as agricultural plant protection, industry monitoring, especially in military field.It is unpiloted due to which
Characteristic greatly improves the life security of operator, has obtained the great attention of various countries.
At present, single rack unmanned plane perform in modern war task limitation it is more and more obvious, and unmanned plane form into columns association
With going execution task more efficiently can go to complete the task that single rack unmanned plane cannot be completed, but the task that unmanned plane is formed into columns
Can distribution be efficiently to complete one of key factor of task, and the research of the Task Allocation Problem that unmanned plane is formed into columns also becomes
One main trend of unmanned air vehicle technique research, has obtained the common recognition of numerous scholars.
The content of the invention
(1) technical problem for solving
The present invention provides a kind of centralized unmanned plane formation method for allocating tasks and device, can solve in prior art such as
What is formed into columns to unmanned plane carries out the technical problem of task distribution.
(2) technical scheme
In a first aspect, the centralized unmanned plane formation method for allocating tasks that the present invention is provided, including：
Calculate each frame unmanned plane during unmanned plane is formed into columns action scheme collection is performed for each target in goal set
The benefit value of each action scheme in conjunction；And in being formed into columns according to the unmanned plane in each frame unmanned plane and the goal set
The distance between each target and unmanned plane during flying unit distance energy consumption, calculate the unmanned plane and the target performed
The cost of action scheme；
In being formed into columns according to the unmanned plane, each frame unmanned plane performs institute for each target in the goal set
The benefit value and the unmanned plane for stating each action scheme in action scheme set performs action scheme to the target
Cost, calculates the net benefits value that the unmanned plane performs this kind of action scheme for the target；
In the unmanned plane is formed into columns, each frame unmanned plane is to described in each target execution in the goal set
The net benefits value and the constraints for pre-setting of each action scheme in action scheme set, determine each frame nobody
The target and the action scheme pending to distributed target of machine distribution.
Optionally, it is described to calculate each target execution that each frame unmanned plane during unmanned plane is formed into columns is directed in goal set
The benefit value of each action scheme in action scheme set, including：
Calculate each frame unmanned plane during the unmanned plane is formed into columns each target in the goal set is directed in scene
The value of utility of each action scheme in the action scheme set is performed under each scene in set；
According to the unmanned plane for performing this kind of action scheme under various scenes of the target in the scene set
Value of utility, calculate the unmanned plane and perform the benefit value of this kind of action scheme for the target.
Optionally, benefit value of the i-th frame unmanned plane to j-th target execution kth kind action method is calculated using following formula：
In formula, UI, j, kFor benefit value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, rK, bFor the i-th frame
Unmanned plane performs the value of utility of kth kind action scheme, volumes of the b for scene set Scene under b Scenes to j-th target
Number, n1 is the number of the scene set Scene.
Optionally, cost of the i-th frame unmanned plane to j-th target execution task is calculated using following formula：
PI, j=SI, j*c
In formula, PI, jFor cost of the i-th frame unmanned plane to j-th target execution task, SI, jFor the i-th frame unmanned plane and jth
The distance between individual target, energy consumptions of the c for unmanned plane during flying unit distance.
Optionally, net benefits value of the i-th frame unmanned plane to i-th target execution kth kind action scheme is calculated using following formula：
YI, j, k=A*UI, j, k-B*PI, j
In formula, YI, j, kFor net benefits value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, UI, j, kFor
Benefit value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, PI, jJ-th target is held for the i-th frame unmanned plane
The cost of row task, A and B are weight coefficient.
Optionally, the constraints includes：
In formula, VI, jTake 0 or 1；If VI, jTake 1, then it represents that the i-th frame unmanned plane is to j-th tasks carrying action scheme；If
VI, jTake 0, then it represents that the i-th frame unmanned plane does not perform any action scheme to j-th task；N2 is nothing in unmanned plane formation
Man-machine frame number；N3 is the number of target in goal set；NmaxThe target of action scheme is able to carry out for the i-th frame unmanned plane
Most numbers.
Optionally, the target for determining each frame unmanned plane distribution and the action side pending to distributed target
Case, including：The target of each frame unmanned plane distribution and the action side pending to distributed target are determined using greedy algorithm
Case.
Second aspect, the centralized unmanned plane formation task allocation apparatus that the present invention is provided, including：
First computing module, is directed to each mesh in goal set for calculating each frame unmanned plane during unmanned plane is formed into columns
Mark performs the benefit value of each action scheme in action scheme set；And each frame unmanned plane in being formed into columns according to the unmanned plane
With the distance between each target in the goal set and the energy consumption of unmanned plane during flying unit distance, the nothing is calculated
The man-machine cost that action scheme is performed to the target；
Second computing module, for each frame unmanned plane in being formed into columns according to the unmanned plane in the goal set
Each target performs the benefit value and the unmanned plane of each action scheme in the action scheme set to the mesh
Mark performs the cost of action scheme, calculates the net benefits value that the unmanned plane performs this kind of action scheme for the target；
Determining module, for each frame unmanned plane in being formed into columns according to the unmanned plane to each in the goal set
Target performs the net benefits value and the constraints for pre-setting of each action scheme in the action scheme set, really
The target and the action scheme pending to distributed target of fixed each frame unmanned plane distribution.
Optionally, first computing module is specifically included：
Effectiveness computing unit, is directed in the goal set for calculating each frame unmanned plane during the unmanned plane is formed into columns
Each target performs the effect of each action scheme in the action scheme set under each scene in scene set
With value；
Benefit calculation unit, for being directed under various scenes of the target in the scene set according to the unmanned plane
The value of utility of this kind of action scheme is performed, the benefit value that the unmanned plane performs this kind of action scheme for the target is calculated.
Optionally, the determining module specifically for：Adopt greedy algorithm to determine the target of each frame unmanned plane distribution with
And the action scheme pending to distributed target.
(3) beneficial effect
Centralized unmanned plane formation method for allocating tasks and device that the present invention is provided, it is first determined every frame unmanned plane is to every
Individual target performs the benefit value of each action scheme, then calculates the cost that unmanned plane is performed in task process, finally according to effect
Beneficial value and cost determine net benefits value, finally according to net benefits value and constraints, carry out Target Assignment and action scheme
It is determined that, carry out the technical problem of task distribution so as to solve how unmanned plane to be formed into columns in prior art so that unmanned plane is formed into columns
Perform task process in can in depth it is uncertain in the case of carry out optimum task distribution, make each frame unmanned plane efficient
Work compound.Benefit is considered in above-mentioned whole process, it is also considered that cost, relative to using single most effective or
The minimum mode of cost, it is as a result more credible.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present disclosure or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Disclosed some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these figures.
Fig. 1 shows the schematic flow sheet of centralized unmanned plane formation method for allocating tasks in one embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present disclosure, the technical scheme in the embodiment of the present disclosure is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the disclosure, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of disclosure protection.
In a first aspect, the present invention provides a kind of centralized unmanned plane formation method for allocating tasks, as shown in figure 1, the method
Including：
During S1, calculating unmanned plane are formed into columns, each frame unmanned plane performs action scheme for each target in goal set
The benefit value of each action scheme in set；And each frame unmanned plane and the goal set in being formed into columns according to the unmanned plane
In the distance between each target and unmanned plane during flying unit distance energy consumption, calculate the unmanned plane and the target held
The cost of row action scheme；
It will be appreciated that various action schemes are included in action scheme set, for example, target of attack, offensive missile, ooze
Thoroughly, do not attack.
It will be appreciated that unmanned plane performs different action schemes to different targets can produce different effects, for example,
One frame unmanned plane is performed to a certain target does not attack different with the effect for performing offensive missile generation, and different effects is quantified as
Different values, i.e. benefit value, thus perform different action schemes and can obtain different benefit values.So-called cost is actually
The energy consumed in the flight course of unmanned plane arrival target.
S2, each target being directed in the goal set according to each frame unmanned plane in unmanned plane formation are performed
The benefit value and the unmanned plane of each action scheme in the action scheme set performs action scheme to the target
Cost, calculate the unmanned plane and perform the net benefits value of this kind of action scheme for the target；
It will be appreciated that it is this nothing that a certain frame unmanned plane performs a kind of net benefits value of action scheme to some target
A kind of man-machine this benefit value of action scheme that performs to the target deducts this unmanned plane to paying in target execution task process
The result that the cost for going out is obtained.
S3, formed into columns according to the unmanned plane in each frame unmanned plane institute is performed to each target in the goal set
State the net benefits value and the constraints for pre-setting of each action scheme in action scheme set, determine each frame without
The target of man-machine distribution and the action scheme pending to distributed target.
It will be appreciated that above-mentioned constraints voluntarily can be arranged, for example, task ability is performed according to each frame unmanned plane
Difference, limits to the executable maximum target number of every frame unmanned plane；Again for example, according to assembling strength on each frame unmanned plane
Difference, limits etc. to the action scheme that every frame unmanned plane is able to carry out；Again for example, if each frame unmanned plane is all same class
Type, perform task ability it is identical, assembling strength it is identical, the distribution of task can also be limited, for example, a frame nobody
Machine can perform task to multiple targets, but a target can only be distributed to a frame unmanned plane to perform.
The centralized unmanned plane formation method for allocating tasks that the present invention is provided, it is first determined every frame unmanned plane is to each target
Perform the benefit value of each action scheme, then calculate the cost that unmanned plane is performed in task process, finally according to benefit value and
Cost determines net benefits value, finally according to net benefits value and constraints, carries out the determination of Target Assignment and action scheme, from
And how unmanned plane is formed into columns in solving prior art carries out the technical problem of task distribution so that unmanned plane is formed into columns and appointed in execution
The task distribution of optimum can be carried out during business in the case of depth is uncertain, makes each frame unmanned plane efficiently cooperate with work
Industry.Benefit is considered in above-mentioned whole process, it is also considered that cost, relative to using single most effective or cost most
Low mode, it is as a result more credible.
In the specific implementation, in S1, benefit value can be calculated using various ways, the optional mode of one of which is：
In S11, the calculating unmanned plane formation, each frame unmanned plane exists for each target in the goal set
The value of utility of each action scheme in the action scheme set is performed under each scene in scene set；
It will be appreciated that there are several scenes in so-called scene set, so-called scene is that unmanned plane performs task
Environment, for example, it is assumed that red is intended to perform task to blue party, affects the key factor of environment to include that red unmanned plane electronics supports system
System state, the guided missile type of red unmanned plane, the radar state of red, red radar get with the distance between target,
The flying height of red unmanned plane, red unmanned plane injure state etc., the radar state, blue party target also including blue party target
Guided missile type, blue party target whether have ack-ack, state of blue party target electronic EVAC etc..These key factors it
Between combination can form different scenes.
In the specific implementation, the calculating of above-mentioned value of utility may be referred to prior art, the optional computational methods of one of which
For：
S111, each key factor of unmanned plane and target is set up affect figure；
S112, using fuzzy set membership function, be probit by each key factor condition conversion, be input to impact figure
In, as the pretreatment that effectiveness is calculated；
S113, using unmanned plane carrying radar and electronics support system search out target location, obtain unmanned plane with
The distance of target and unmanned plane during flying height；
S114, using fuzzy set membership function, by distance and unmanned plane during flying high-degree of conversion of the unmanned plane with target be
Probit, as unmanned plane for the input that the effectiveness that target performs action scheme is calculated, obtains last effectiveness result.
Part membership function is given below, such as unmanned plane and the membership function of the distance of target are following three letters
Number：
For example, work as RG=5km, by its membership function formula, the value of its degree of membership can be obtained：μA(near)(x)=0,
μA(medium)(x)=0,A(far)(x)=0.These values are considered as that variable " RG " correspondence later is near, intermediate range, remote probit,
The input that these probability are calculated as final utility.
The membership function of unmanned plane during flying height is following three functions：
For example, as RH=8.5km, UA(low)(y)=0, μA(medium)(y)=0.75,A(high)(y)=0.25.
Wherein, the state of each key factor is all converted into corresponding probability by fuzzy set membership function
Value, and be input in the impact figure of foundation, but unmanned plane probit corresponding with the distance of target and the two variables of height
It is not input in advance, because the two variables are continually changing, needs more their value, as the defeated of effectiveness calculating
Enter.
S12, according to the unmanned plane for this kind of action is performed under various scenes of the target in the scene set
The value of utility of scheme, calculates the benefit value that the unmanned plane performs this kind of action scheme for the target.
For example, calculate a frame unmanned plane and perform a certain action scheme to some target under various scenes
Value of utility, will be averaging after these value of utility summations, you can obtain the unmanned plane and a kind of this action side is performed to the target again
The benefit value of case.
Here, value of utility being calculated first, benefit value being calculated according to value of utility then, calculating process is simple, easily realization.
In the specific implementation, the i-th frame unmanned plane can be calculated using following formula in S12 and the action of kth kind is performed to j-th target
The benefit value of method：
In formula, UI, j, kFor benefit value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, rK, bFor the i-th frame
Unmanned plane performs the value of utility of kth kind action scheme, volumes of the b for scene set Scene under b Scenes to j-th target
Number, n1 is the number of the scene set Scene.
In above formula (7), adopt and the i-th frame unmanned plane is performed into kth kind action scheme under various scenes to j-th target
Value of utility do sums meansigma methodss, using the arithmetic mean of instantaneous value as value of utility, calculate it is simple, easily realize.
In the specific implementation, various ways can be adopted in S1 to calculate the cost that unmanned plane performs task, for example, can be adopted
Cost of the i-th frame unmanned plane to j-th target execution task is calculated with following formula：
PI, j=SI, j*c (8)
In formula, PI, jFor cost of the i-th frame unmanned plane to j-th target execution task, SI, jFor the i-th frame unmanned plane and jth
The distance between individual target, energy consumptions of the c for unmanned plane during flying unit distance, such as 0.5.
Here, in above formula (8), no matter the i-th frame unmanned plane to the cost that j-th target performs any one action scheme is
Identical, it is so convenient to calculate.Certainly, in order that result of calculation is more accurate, can also will perform different tasks can produce
Cost value is set to different values by different costs.
In the specific implementation, in S2, net benefits value can have various calculations, and for example, a kind of optional mode is：Adopt
Net benefits value of the i-th frame unmanned plane to i-th target execution kth kind action scheme is calculated with following formula：
YI, j, k=A*UI, j, k-B*PI, j (9)
In formula, YI, j, kFor net benefits value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, UI, j, kFor
Benefit value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, PI, jJ-th target is held for the i-th frame unmanned plane
The cost of row task, A and B are weight coefficient.
In above formula (9), the size of A and B can be arranged as required to, and for example, A takes 0.9, B and takes 0.1, certainly can be with
Take other values.
In the specific implementation, the constraints in S3 can be arranged as required to, it is assumed that each frame unmanned plane is all same class
Type, the ability for performing task is identical, and assembling strength is identical, and constraints can be：Frame unmanned plane can be held to multiple targets
Row task, but a target can only be distributed to a frame unmanned plane to perform, and if the condition is expressed with formula, see below formula
(10)：
In formula, VI, jTake 0 or 1；If VI, jTake 1, then it represents that the i-th frame unmanned plane is to j-th tasks carrying action scheme；If
VI, jTake 0, then it represents that the i-th frame unmanned plane does not perform any action scheme to j-th task；N2 is nothing in unmanned plane formation
Man-machine frame number；N3 is the number of target in goal set；NmaxThe target of action scheme is able to carry out for the i-th frame unmanned plane
Most numbers.
In the specific implementation, the target and the row pending to distributed target of each frame unmanned plane distribution are determined in S3
The process of dynamic scheme can adopt greedy algorithm, can also be determined using other methods certainly, this present invention is not limited.
In the specific implementation, the above-mentioned device or equipment that can realize said method can be arranged on the ground as ground
Control platform carries out task distribution, it is also possible to be disposed therein on a frame unmanned plane, the unmanned plane as leader, to each frame without
It is man-machine to carry out task distribution.
The distribution method that the present invention is provided is illustrated with an example below：
Assume that unmanned plane there are three frame identical unmanned planes in forming into columns, this three framves unmanned plane is needed to being made up of 9 targets
Goal set performs multiple tasks, and these tasks have target of attack, offensive missile, do not attack and hide these four.
First, determine the scene of unmanned plane formation execution task：Know guided missile type, the radar shape of unmanned plane of unmanned plane
Whether state, the guided missile type of target, the radar state of target, target have ack-ack these key factors, by these it is crucial because
Element combination, can obtain 6 kinds of possible scenes, and then determine scene set；Assume that constraints is：One frame unmanned plane can be right
Three targets perform task, but a target can only be distributed to a frame unmanned plane to perform.So distribution task can be adopted
One four-tuple<E, V, T, C>Represent, wherein E is scene set, and V is that unmanned plane is formed into columns, and T is goal set, and C is constraints
Set.
Secondly, in this three framves unmanned plane, each frame unmanned plane performs each under above-mentioned each scene to each target
Plant the value of utility of action scheme；For each of which frame unmanned plane：The unmanned plane is calculated to some target in 6 kinds of scenes
It is lower perform certain action scheme value of utility sum meansigma methodss, using the meansigma methodss as the unmanned plane to some target
Perform the benefit value of certain action scheme.Simultaneously, before or after, some target is performed to this to calculate the unmanned plane
The cost of certain action scheme；Then calculate the net effect that each frame unmanned plane performs each action scheme to each target
Benefit value, result of calculation can be found in table 1 below：
The tables of data of 1 net benefits value of table
Finally, solved using greedy algorithm, obtain allocation result.
The detailed process of above-mentioned greedy algorithm is substantially：Find the maximum in upper table 1, it can be seen that maximum is the 2nd
Frame unmanned plane performs the net benefits value maximum of this scheme of offensive missile to the 5th target, is 68.982, now due to the 2nd frame
Unmanned plane not yet distributes target and action scheme, so just gives the 2nd frame unmanned plane by the 5th Target Assignment, and which is performed
The action scheme of offensive missile.Then, the data deletion the 5th target being expert at, finds the maximum in remaining data, can
With find out the 1st frame unmanned plane the 8th target is performed target of attack net benefits rate it is maximum, be 68.974, now the 1st frame nobody
Machine not yet distributes target and action scheme, just gives first unmanned plane by the 8th Target Assignment, and the 8th target execution is attacked
Hit the scheme of target.Then the data deletion the 8th target being expert at, finds the maximum in remaining data.The like,
See when maximum is searched out every time whether the target distributed by current unmanned plane reaches 3, if not having, maximum is located
The corresponding Target Assignment of row is on the corresponding unmanned plane of maximum column, and target is performed the action scheme in respective column.
If the target distributed by current unmanned plane has reached 3, by all data deletions in current unmanned plane column,
Maximum is continually looked for, until will be 9 Target Assignments complete.According to said method be each Target Assignment unmanned plane, and determine it is right
The scheme that each target is performed, allocation result are as shown in table 2 below：
2 allocation result table of table
As can be seen that allocation result meets assumed constraints from upper table 2.
Second aspect, the present invention also provide a kind of centralized unmanned plane formation task allocation apparatus, and the device includes：
First computing module, is directed to each mesh in goal set for calculating each frame unmanned plane during unmanned plane is formed into columns
Mark performs the benefit value of each action scheme in action scheme set；And each frame unmanned plane in being formed into columns according to the unmanned plane
With the distance between each target in the goal set and the energy consumption of unmanned plane during flying unit distance, the nothing is calculated
The man-machine cost that action scheme is performed to the target；
Second computing module, for each frame unmanned plane in being formed into columns according to the unmanned plane in the goal set
Each target performs the benefit value and the unmanned plane of each action scheme in the action scheme set to the mesh
Mark performs the cost of action scheme, calculates the net benefits value that the unmanned plane performs this kind of action scheme for the target；
Determining module, for each frame unmanned plane in being formed into columns according to the unmanned plane to each in the goal set
Target performs the net benefits value and the constraints for pre-setting of each action scheme in the action scheme set, really
The target and the action scheme pending to distributed target of fixed each frame unmanned plane distribution.
Optionally, first computing module is specifically included：
Effectiveness computing unit, is directed in the goal set for calculating each frame unmanned plane during the unmanned plane is formed into columns
Each target performs the effect of each action scheme in the action scheme set under each scene in scene set
With value；
Benefit calculation unit, for being directed under various scenes of the target in the scene set according to the unmanned plane
The value of utility of this kind of action scheme is performed, the benefit value that the unmanned plane performs this kind of action scheme for the target is calculated.
Optionally, the determining module specifically for：Adopt greedy algorithm to determine the target of each frame unmanned plane distribution with
And the action scheme pending to distributed target.
It will be appreciated that the function structure module of method that the device that second aspect is provided is provided for first aspect, which has
The corresponding portion that the part such as the explanation held inside the Pass, illustration, optional embodiment, beneficial effect is may be referred in first aspect
Point, will not be described here.
In sum：
Centralized unmanned plane formation method for allocating tasks and device that the present invention is provided, it is first determined every frame unmanned plane is to every
Individual target performs the benefit value of each action scheme, then calculates the cost that unmanned plane is performed in task process, finally according to effect
Beneficial value and cost determine net benefits value, finally according to net benefits value and constraints, carry out Target Assignment and action scheme
It is determined that, carry out the technical problem of task distribution so as to solve how unmanned plane to be formed into columns in prior art so that unmanned plane is formed into columns
Perform task process in can in depth it is uncertain in the case of carry out optimum task distribution, make each frame unmanned plane efficient
Work compound.Benefit is considered in above-mentioned whole process, it is also considered that cost, relative to using single most effective or
The minimum mode of cost, it is as a result more credible.
Finally it should be noted that：Various embodiments above is only illustrating the technical scheme of embodiments of the invention rather than right
Its restriction；Although being described in detail to embodiments of the invention with reference to foregoing embodiments, the ordinary skill of this area
Personnel should be understood：Which still can be modified to the technical scheme described in foregoing embodiments, or to which part
Or all technical characteristic carries out equivalent；And these modifications or replacement, do not make the essence disengaging of appropriate technical solution
The scope of each embodiment technical scheme of embodiments of the invention.
Claims (10)
1. a kind of centralized unmanned plane formation method for allocating tasks, it is characterised in that include：
Calculate each frame unmanned plane during unmanned plane is formed into columns to perform in action scheme set for each target in goal set
The benefit value of each action scheme；And it is every in each frame unmanned plane and the goal set in being formed into columns according to the unmanned plane
The energy consumption of the distance between one target and unmanned plane during flying unit distance, calculates the unmanned plane and performs action to the target
The cost of scheme；
In being formed into columns according to the unmanned plane, each frame unmanned plane performs the row for each target in the goal set
The benefit value and the unmanned plane of each action scheme in dynamic scheme set performs the cost of action scheme to the target,
Calculate the net benefits value that the unmanned plane performs this kind of action scheme for the target；
In being formed into columns according to the unmanned plane, each frame unmanned plane performs the action to each target in the goal set
The net benefits value and the constraints for pre-setting of each action scheme in scheme set, determines each frame unmanned plane point
The target matched somebody with somebody and the action scheme pending to distributed target.
2. method according to claim 1, it is characterised in that each frame unmanned plane is directed to during the calculating unmanned plane is formed into columns
Each target in goal set performs the benefit value of each action scheme in action scheme set, including：
Calculate each frame unmanned plane during the unmanned plane is formed into columns each target in the goal set is directed in scene set
In each scene under perform the value of utility of each action scheme in the action scheme set；
The effect that perform this kind action scheme is directed under various scenes of the target in the scene set according to the unmanned plane
With value, the benefit value that the unmanned plane performs this kind of action scheme for the target is calculated.
3. method according to claim 2, it is characterised in that the i-th frame unmanned plane is calculated using following formula j-th target is held
The benefit value of row kth kind action method：
In formula, UI, j, kFor benefit value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, rK, bFor the i-th frame nobody
Machine performs the value of utility of kth kind action scheme under b Scenes to j-th target, numberings of the b for scene set Scene,
N1 is the number of the scene set Scene.
4. method according to claim 1, it is characterised in that the i-th frame unmanned plane is calculated using following formula j-th target is held
The cost of row task：
PI, j=SI, j*c
In formula, PI, jFor cost of the i-th frame unmanned plane to j-th target execution task, SI, jFor the i-th frame unmanned plane and j-th mesh
The distance between mark, energy consumptions of the c for unmanned plane during flying unit distance.
5. method according to claim 1, it is characterised in that the i-th frame unmanned plane is calculated using following formula i-th target is held
The net benefits value of row kth kind action scheme：
YI, j, k=A*UI, j, k-B*PI, j
In formula, YI, j, kFor net benefits value of the i-th frame unmanned plane to j-th target execution kth kind action scheme, UI, j, kFor the i-th frame
Benefit value of the unmanned plane to j-th target execution kth kind action scheme, PI, jJ-th target is performed for the i-th frame unmanned plane and appointed
The cost of business, A and B are weight coefficient.
6. method according to claim 1, it is characterised in that the constraints includes：
In formula, VI, jTake 0 or 1；If VI, jTake 1, then it represents that the i-th frame unmanned plane is to j-th tasks carrying action scheme；If VI, jTake
0, then it represents that the i-th frame unmanned plane does not perform any action scheme to j-th task；N2 is unmanned plane in unmanned plane formation
Frame number；N3 is the number of target in goal set；NmaxBe able to carry out for the i-th frame unmanned plane action scheme target it is most multiple
Number.
7. according to the arbitrary described method of claim 1~6, it is characterised in that the mesh of each frame unmanned plane distribution of the determination
It is marked with and the action scheme pending to distributed target, including：The mesh of each frame unmanned plane distribution is determined using greedy algorithm
It is marked with and the action scheme pending to distributed target.
8. a kind of centralized unmanned plane formation task allocation apparatus, it is characterised in that include：
First computing module, holds for each target in goal set for calculating each frame unmanned plane during unmanned plane is formed into columns
The benefit value of each action scheme in row action scheme set；And according to each frame unmanned plane and institute in unmanned plane formation
The energy consumption of the distance between each target in goal set and unmanned plane during flying unit distance is stated, the unmanned plane is calculated
The cost of action scheme is performed to the target；
Second computing module, for each frame unmanned plane in being formed into columns according to the unmanned plane for each in the goal set
Individual target performs the benefit value and the unmanned plane of each action scheme in the action scheme set and the target is held
The cost of row action scheme, calculates the net benefits value that the unmanned plane performs this kind of action scheme for the target；
Determining module, for each frame unmanned plane in being formed into columns according to the unmanned plane to each target in the goal set
The net benefits value and the constraints for pre-setting of each action scheme in the action scheme set are performed, it is determined that often
The target and the action scheme pending to distributed target of one frame unmanned plane distribution.
9. device according to claim 8, it is characterised in that first computing module is specifically included：
Effectiveness computing unit, for calculating during the unmanned plane is formed into columns each frame unmanned plane for each in the goal set
Individual target performs the value of utility of each action scheme in the action scheme set under each scene in scene set；
Benefit calculation unit, performs for being directed under various scenes of the target in the scene set according to the unmanned plane
The value of utility of this kind of action scheme, calculates the benefit value that the unmanned plane performs this kind of action scheme for the target.
10. device according to claim 8, it is characterised in that the determining module specifically for：It is true using greedy algorithm
The target and the action scheme pending to distributed target of fixed each frame unmanned plane distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124273.0A CN106681358A (en) | 2017-03-03 | 2017-03-03 | Centralized unmanned aerial vehicle formation distributing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124273.0A CN106681358A (en) | 2017-03-03 | 2017-03-03 | Centralized unmanned aerial vehicle formation distributing method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106681358A true CN106681358A (en) | 2017-05-17 |
Family
ID=58861633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710124273.0A Pending CN106681358A (en) | 2017-03-03 | 2017-03-03 | Centralized unmanned aerial vehicle formation distributing method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106681358A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107145161A (en) * | 2017-05-27 | 2017-09-08 | 合肥工业大学 | Unmanned plane accesses the path planning method and device of multiple target point |
| CN107168366A (en) * | 2017-06-05 | 2017-09-15 | 合肥工业大学 | Unmanned plane formation adaptive information distribution processing method |
| CN108983817A (en) * | 2018-08-07 | 2018-12-11 | 西北工业大学 | A kind of multizone searching method and device |
| CN109740954A (en) * | 2019-01-10 | 2019-05-10 | 北京理工大学 | A kind of quick grouping method of extensive unmanned plane towards disaster relief task |
| CN110442146A (en) * | 2019-07-22 | 2019-11-12 | 合肥工业大学 | The distribution of unmanned plane formation target and space occupy-place joint decision method and system |
| CN111414005A (en) * | 2020-03-11 | 2020-07-14 | 五邑大学 | Task dispatching decision method and system for unmanned aerial vehicle cluster |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100163621A1 (en) * | 2006-01-11 | 2010-07-01 | Carmel-Haifa University Economic Corporation Ltd. | Uav decision and control system |
| CN103413186A (en) * | 2013-08-19 | 2013-11-27 | 中国电子科技集团公司第二十八研究所 | Cooperative multi-aircraft target distribution method based on hybrid optimization algorithm |
| CN105278542A (en) * | 2015-09-23 | 2016-01-27 | 沈阳航空航天大学 | Counter-attack countermeasure optimal strategy method for multi-unmanned plane cooperative strike task |
-
2017
- 2017-03-03 CN CN201710124273.0A patent/CN106681358A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100163621A1 (en) * | 2006-01-11 | 2010-07-01 | Carmel-Haifa University Economic Corporation Ltd. | Uav decision and control system |
| CN103413186A (en) * | 2013-08-19 | 2013-11-27 | 中国电子科技集团公司第二十八研究所 | Cooperative multi-aircraft target distribution method based on hybrid optimization algorithm |
| CN105278542A (en) * | 2015-09-23 | 2016-01-27 | 沈阳航空航天大学 | Counter-attack countermeasure optimal strategy method for multi-unmanned plane cooperative strike task |
Non-Patent Citations (2)
| Title |
|---|
| HU XIAO-XUAN 等: ""Robust decision making for UAV air-to-ground attack under severe uncertainty"", 《J. CENT. SOUTH UNIV.》 * |
| 叶青松 等: ""多无人机编队协同目标分配的两阶段求解方法"", 《合肥工业大学学报（自然科学版）》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107145161A (en) * | 2017-05-27 | 2017-09-08 | 合肥工业大学 | Unmanned plane accesses the path planning method and device of multiple target point |
| CN107168366A (en) * | 2017-06-05 | 2017-09-15 | 合肥工业大学 | Unmanned plane formation adaptive information distribution processing method |
| CN107168366B (en) * | 2017-06-05 | 2020-07-07 | 合肥工业大学 | Unmanned aerial vehicle formation self-adaptive information distribution processing method |
| CN108983817A (en) * | 2018-08-07 | 2018-12-11 | 西北工业大学 | A kind of multizone searching method and device |
| CN109740954A (en) * | 2019-01-10 | 2019-05-10 | 北京理工大学 | A kind of quick grouping method of extensive unmanned plane towards disaster relief task |
| CN110442146A (en) * | 2019-07-22 | 2019-11-12 | 合肥工业大学 | The distribution of unmanned plane formation target and space occupy-place joint decision method and system |
| CN110442146B (en) * | 2019-07-22 | 2022-10-25 | 合肥工业大学 | Unmanned aerial vehicle formation target allocation and space occupation combined decision-making method and system |
| CN111414005A (en) * | 2020-03-11 | 2020-07-14 | 五邑大学 | Task dispatching decision method and system for unmanned aerial vehicle cluster |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106681358A (en) | Centralized unmanned aerial vehicle formation distributing method and device | |
| CN103744290B (en) | A kind of multiple no-manned plane formation layering target assignment method | |
| CN105184092B (en) | Polymorphic type unmanned plane cotasking distribution method under the conditions of a kind of resource constraint | |
| CN106873628A (en) | A kind of multiple no-manned plane tracks the collaboration paths planning method of many maneuvering targets | |
| CN108616302A (en) | Unmanned plane Multi folds coverage model and dispositions method under a kind of power control | |
| CN105302153A (en) | Heterogeneous multi-UAV (Unmanned Aerial Vehicle) cooperative scouting and striking task planning method | |
| CN103413186B (en) | A kind of multi-aircraft based on hybrid optimization algorithm works in coordination with target assignment method | |
| CN106529776B (en) | The autonomous cotasking distribution method of multiple agent | |
| CN106406346A (en) | Plan method for rapid coverage track search coordinated by multiple UAVs (Unmanned Aerial Vehicles) | |
| CN107622327A (en) | Multiple no-manned plane path planning method based on cultural ant colony search mechanisms | |
| CN106705970A (en) | Multi-UAV(Unmanned Aerial Vehicle) cooperation path planning method based on ant colony algorithm | |
| CN104808660A (en) | Concave convex mixed complex polygon farmland unmanned aerial vehicle spraying operation flight path planning method | |
| CN106979784A (en) | Non-linear trajectory planning based on mixing dove group's algorithm | |
| CN106650058A (en) | Improved artificial bee colony algorithm-based task scheduling method for cooperative electronic jamming | |
| CN108549402A (en) | Unmanned aerial vehicle group method for allocating tasks based on quantum crow group hunting mechanism | |
| CN108985549A (en) | Unmanned plane method for allocating tasks based on quantum dove group's mechanism | |
| CN104299047B (en) | A kind of method for building up of the Waypoint assessment indicator system based on Field Using Fuzzy Comprehensive Assessment | |
| CN106197426A (en) | A kind of unmanned plane emergency communication paths planning method and system | |
| CN106896351A (en) | A kind of radar network composite Poewr control method based on non-cooperative game | |
| CN103149457A (en) | Space electromagnetic intensity distribution analysis method | |
| CN106292665A (en) | A kind of inspection control method of distributed multi-robot system competition cooperation | |
| CN105955815A (en) | Multifunctional radar network mission planning method | |
| CN109147395A (en) | The method and system of the flight management of assisting in flying device in terms of the operating cost of optimization aircraft | |
| CN101893441A (en) | Unmanned aerial vehicle flight path optimization method based on deviation maximization and grey correlation analysis | |
| CN110008985A (en) | Based on the shipboard aircraft group target identification method for improving D-S evidence theory rule |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170517 |
|
| RJ01 | Rejection of invention patent application after publication |