CN107728643B - A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment - Google Patents
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Abstract
The invention proposes a kind of unmanned aerial vehicle group distributed task dispatching methods under dynamic environment, it is intended to realize that unmanned aerial vehicle group under dynamic environment gets rid of the limitation of ground control station, independently carry out task schedule, and improve the real-time of task schedule.Realize step are as follows: decision unmanned plane distributes task and send and executes instruction to each cluster unmanned plane；Each cluster unmanned plane executes instruction execution task according to what decision unmanned plane was sent, and is communicated by heartbeat mechanism with decision unmanned plane；Decision unmanned plane optimizes scheduling to each cluster unmanned plane task；Each cluster unmanned plane executes redefining for task according to respective flight path, and keeps forming into columns；Each cluster unmanned plane task performance of decision monitoring unmanned, when whole tasks are completed, unmanned aerial vehicle group makes a return voyage.The present invention can make unmanned aerial vehicle group select correct dispatching method for the variation of dynamic environment, improve task schedule real-time, enable the execution task that unmanned aerial vehicle group is autonomous.
Description
Technical field
The invention belongs to air vehicle technique field, it is related to the unmanned aerial vehicle group distributed task dispatching side under a kind of dynamic environment
Method can be used for the fields such as forest fire protection, electric inspection process, environmental monitoring, disaster inspection and anti-terrorism lifesaving.
Background technique
Unmanned plane as one of modern high technology equipment, unique effect in military and civilian increasingly by
Pay attention to, and the relevant technology of unmanned plane also reaches its maturity in the development and accumulation that experienced decades.Appoint as unmanned plane executes
The environment of business is increasingly complicated, and task type is increasingly various, and unmanned plane has begun from the mode of single rack time independent task towards more
The group of planes direction of operation development of sortie, polymorphic type.Compared to one-of-a-kind system, unmanned plane cluster can preferably play multiple unmanned planes
Advantage, task processing ability it is also stronger.How multiple tasks to be distributed to by multiple UAVs by task schedule and are realized
Optimal overall efficiency is a good problem to study.
The centralized preparatory scheduling of concern mostly of multiple no-manned plane task schedule research at present, by the operation in ground control station
Personnel formulate task scheduling approach and the specific flight route of unmanned plane, unmanned plane itself do not have decision-making capability, fully according to
The assignment instructions and air route that ground control station issues execute task.Under the trend that unmanned plane capacity of will is continuously improved, distribution
Formula scheduling becomes an important development direction of unmanned plane task schedule.But for the dynamic dispatching during task execution, especially
It is that distributed dynamic task schedule lacks research.For the Mission Scheduling in unmanned aerial vehicle group cooperative working process, research
Distributed task dispatching method realizes that the multiple no-manned plane task schedule under dynamic environment is to be highly desirable with higher efficiency
's.
From the point of view of existing disclosed data, certain methods are proposed for the task schedule of unmanned aerial vehicle group.Such as authorization is public
Announcement number is CN104615143B, and the Chinese patent of entitled " unmanned plane dispatching method " discloses a kind of unmanned plane dispatching method,
Method includes the following steps: itself identity ID, current IP and current flight status data are sent to service by unmanned plane
Device；After server receives the identity ID, current IP and current flight status data, according to identity ID, current IP and work as
Preceding Flight Condition Data monitors the state of flight of corresponding unmanned plane in real time, and according to preset task data sheet
It generates and executes assignment instructions, which is sent to by corresponding unmanned plane according to the identity ID；The task data
Table is the associated steps of identity ID, destination, avionics type and destination data；Unmanned plane is receiving corresponding execution assignment instructions
Later, corresponding task is executed according to the execution assignment instructions.This method can be scheduled control to unmanned aerial vehicle group, but existing
Shortcoming is: the unmanned aerial vehicle group of 1. this method needs to communicate with ground control station during execution task, when unmanned plane with
Data communication between earth station can directly result in the failure of task when interrupting, can not achieve the autonomous execution of unmanned aerial vehicle group and appoint
Business；2. due to the dynamic and uncertain and Collaborative Control complexity of environment, so that task will appear many after starting
The case where fail to predict, this method can not carry out in real time task schedule for this current intelligence.
Summary of the invention
It is an object of the invention to overcome above-mentioned the shortcomings of the prior art, nobody under a kind of dynamic environment is proposed
Group of planes distributed task dispatching method, it is intended to realize that unmanned aerial vehicle group under dynamic environment gets rid of the limitation of ground control station, independently into
Row task schedule, and improve the real-time of task schedule.
The technology of the present invention thinking is: host node of the decision unmanned plane as Distributed Architecture, is responsible for the entire unmanned plane of monitoring
Group simultaneously carries out task schedule to cluster unmanned plane；Slave node of the cluster unmanned plane as Distributed Architecture, be responsible for execute decision without
The task of man-machine publication；Decision unmanned plane is communicated with cluster unmanned plane by heartbeat mechanism, monitor current each cluster nobody
Whether machine state and task situation change；Decision unmanned plane can make phase according to the data variation and environmental situation of monitoring
The decision scheme answered；Redefining for task and flight path are distributed to each collection according to different decision schemes by decision unmanned plane
Group's unmanned plane, re-starts task schedule.
According to above-mentioned technical thought, the technical solution that the object of the invention is taken is realized are as follows:
A kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment, by as distributed structure/architecture host node
Decision unmanned plane and from the cluster unmanned plane of node realize, include the following steps:
(1) decision unmanned plane distributes task and sends and executes instruction to each cluster unmanned plane:
(1a) decision unmanned plane determines cluster drone status, and quantity, each cluster unmanned plane including cluster unmanned plane fly
Row parameter and cruising ability；
(1b) decision unmanned plane determines pending task situation, including task number, task object position and task character；
(1c) decision unmanned plane according to cluster drone status and pending task situation, to the distribution of each cluster unmanned plane to
Execution task, and send and execute instruction；
(2) each cluster unmanned plane executes instruction execution task according to what decision unmanned plane was sent, and by heartbeat mechanism with
Decision unmanned plane is communicated, and sends respective flight position, cruising ability and task execution situation data to decision unmanned plane；
(3) decision unmanned plane optimizes scheduling to each cluster unmanned plane task:
(3a) decision unmanned plane monitors cluster drone status and task execution situation in real time, obtains real time environment
Situation Assessment is as a result, simultaneously according to the data of each cluster unmanned plane transmission received and real time environment Situation Assessment as a result, judgement
Whether optimizing and scheduling task is carried out, if so, executing step (3b), otherwise each cluster unmanned plane is executed instruction to continue to execute by original and be appointed
Business；Wherein, each cluster drone status and task execution situation of decision unmanned plane real time monitoring, including each cluster unmanned plane fly
Line position is set and cruising ability and current task number, task object position and task character；
(3b) decision unmanned plane formulates different decisions according to the current each cluster drone status and task situation that monitor
Scheme:
When to having, cluster unmanned plane is operating abnormally decision monitoring unmanned or cluster unmanned plane cruising ability can not be supported
When it completes task, redefine the cluster unmanned plane number that can continue to execute task, and count occur abnormal cluster without
Man-machine can not executing for task determines and can replace the cluster unmanned plane that abnormal unmanned plane executes task；
When decision monitoring unmanned to task number increases, determines emerging task object position and have the ability to complete
The cluster unmanned plane of new task；
When decision monitoring unmanned to task number is reduced, the cluster unmanned plane for executing the task is determined, to the cluster
Unmanned plane sends pause instruction, and the pause of cluster unmanned plane executes the task and waits new assignment instructions to be received；
(3c) decision unmanned plane is according to different decision schemes, by redefining for task and its corresponding flight path point
Each cluster unmanned plane of dispensing；
(4) each cluster unmanned plane executes redefining for task according to respective flight path, and keeps forming into columns；
(5) each cluster unmanned plane task performance of decision monitoring unmanned sends the finger that makes a return voyage when whole tasks are completed
It enables, unmanned aerial vehicle group drops to specified region.
Compared with the prior art, the invention has the following advantages:
1, the present invention uses decision unmanned plane as host node, and cluster unmanned plane is distributed as the unmanned aerial vehicle group from node
Framework, decision unmanned plane replace ground control station, are communicated by heartbeat mechanism with cluster unmanned plane, monitor entire unmanned plane
Group, quickly can be collected and analyze to mission bit stream, be resolved the concrete scheme of Mission Scheduling, realize nobody
The autonomous task schedule of a group of planes, gets rid of the limitation of ground control station.
2, the present invention realizes decision monitoring unmanned each cluster unmanned plane during flying position and cruising ability and current task
Number, task object position and task character formulate different decision-making parties according to the variation of environmental situation and unmanned aerial vehicle group state
Case, can Real time optimal dispatch unmanned aerial vehicle group in a dynamic environment task, really adapt to complicated task environment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the applicable scheduling system of the present invention；
Fig. 2 is implementation flow chart of the invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, invention is further described in detail.
Referring to Fig.1, the scheduling system that the present invention is applicable in, including decision unmanned plane and multiple cluster unmanned planes.
Decision unmanned plane includes communication module, monitoring module and task scheduling modules.Communication module is used for decision unmanned plane
Information is transmitted between cluster unmanned plane, flight path, the collection of task scheduling approach and planning including the publication of decision unmanned plane
Group's unmanned plane task execution situation, flight position information, the task object information of cruising ability and acquisition；Monitoring module is for receiving
Collection communication module gets data, monitors each cluster drone status and task situation, including each cluster unmanned plane during flying position
With cruising ability, current task number, task object position and task character, current each cluster drone status and task are judged
Whether situation changes；Task scheduling modules are used for each cluster drone status and task feelings collected according to monitoring module
Condition formulates different task scheduling scheme for cluster unmanned plane.
Cluster unmanned plane includes communication module, information acquisition module and task execution module.Information acquisition module is for adopting
Collect unmanned plane during flying position, cruising ability and task object situation；Task execution module is distributed to for receiving decision unmanned plane
The task of each cluster unmanned plane, and task is executed according to the flight path of planning control cluster unmanned plane.
Referring to a kind of unmanned aerial vehicle group distributed task dispatching method under Fig. 2, dynamic environment, by as distributed structure/architecture
The decision unmanned plane of host node and from the cluster unmanned plane of node realize, include the following steps:
Step 1, decision unmanned plane distributes task and sends and executes instruction to each cluster unmanned plane:
Step 1a, decision unmanned plane determine cluster drone status, quantity, each cluster unmanned plane including cluster unmanned plane
Flight parameter and cruising ability, wherein unmanned plane during flying parameter includes the signal quality of unmanned plane transmission module, task execution mould
Reaction speed, unmanned plane during flying posture and the real-time three-dimensional coordinate position of block；
Step 1b, decision unmanned plane determine pending task situation, including task number, task object position and task
Matter, task object position are positioned by the three-dimensional variable of longitude, latitude and height, can determine unmanned plane by task character
The task type that group executes such as completes Fight Fire in Forest task, and point of origin number is task number, and each point of origin position is task mesh
Cursor position, target rescue are task character；
Step 1c, decision unmanned plane is according to cluster drone status and pending task situation, to each cluster unmanned plane point
It with pending task, and sends and executes instruction, decision unmanned plane comprehensively considers cluster unmanned plane and executes task ability and continuation of the journey energy
Specific point target on fire is distributed to each cluster unmanned plane by communication module, and is the planning flight of each cluster unmanned plane by power
Path；
Step 2, the task execution module of each cluster unmanned plane executes instruction control cluster according to what decision unmanned plane was sent
Unmanned plane executes task, and is communicated by heartbeat mechanism with decision unmanned plane, sends respective flight to decision unmanned plane
Position, cruising ability and task execution situation；
Step 2a, each cluster unmanned plane were sent out by communication module to decision unmanned plane during execution task every 5 seconds
It send a data packet and waits the returned data of decision unmanned plane, the data in the data packet of transmission include cluster unmanned plane
ID, current flight position, cruising ability and task performance；
Step 2b, the data packet that decision unmanned plane sends each cluster unmanned plane received parse, monitoring module
The data that each cluster unmanned plane is sent are obtained, each cluster drone status is determined, it is predetermined to guarantee that each cluster unmanned plane does not deviate
Flight path, and a corresponding data packet is replied to each cluster unmanned plane by communication module, decision unmanned plane carries out task
The data for the data packet replied when scheduling include the flight path and environmental situation of the task and planning for the distribution of cluster unmanned plane
Information, if decision unmanned plane does not receive the data packet sent from a certain cluster unmanned plane, decision unmanned plane in 15 seconds
It will be regarded as disconnecting with the cluster unmanned plane；
Step 2c, each cluster unmanned plane receive the data packet that decision unmanned plane is replied, and complete heartbeat communication, pass through the heart
Jump mechanism can guarantee that decision unmanned plane is communicated with the holding of each cluster unmanned plane, can monitor each cluster unmanned plane in real time, it is ensured that
Task smoothly executes and can carry out new task schedule being abnormal situation；
Step 3, decision unmanned plane optimizes scheduling to each cluster unmanned plane task:
Step 3a, decision unmanned plane monitor cluster drone status and task execution situation in real time, obtain in real time
Environmental situation assessment result, and the data and real time environment Situation Assessment that are sent according to each cluster unmanned plane for receiving as a result,
Optimizing and scheduling task is judged whether to, if so, executing step (3b), otherwise each cluster unmanned plane is executed instruction by original continues to hold
Row task；Wherein, decision unmanned plane real time monitoring each cluster drone status and task execution situation, including each cluster nobody
Machine flight position and cruising ability and current task number, task object position and task character:
Step 3a1, decision unmanned plane arrange respective flight position, cruising ability and the task that each cluster unmanned plane is sent
Executive condition data, and colliding data and invalid data therein are cleaned, obtain valid data；
Step 3a2, decision unmanned plane forms tracking view according to obtained valid data, and utilizes the tracking view formed
Each cluster unmanned plane effective coverage range, intervisibility and mobility are assessed, real-time task environmental situation information is obtained；
Step 3a3, decision unmanned plane are tight to environment potential threat and task object according to real-time task environmental situation information
Anxious degree is assessed, and real-time task environmental situation assessment result is obtained；
Step 3b, the task scheduling modules of decision unmanned plane are according to monitoring changed current each cluster unmanned plane shape
State and task situation, formulate different decision schemes:
When to having, cluster unmanned plane is operating abnormally decision monitoring unmanned or cluster unmanned plane cruising ability can not be supported
When it completes task, task scheduling modules redefine the unmanned plane number that can continue to execute task, and it is abnormal to count appearance
Cluster unmanned plane can not the executing of the task, determine and can replace the cluster unmanned plane that abnormal unmanned plane executes task, cluster without
Man-machine something unexpected happened possible during task execution leads to unmanned plane during flying failure, loses and write to each other with decision unmanned plane
Or because battery capacity problem leads to not continue to complete task, decision unmanned plane needs statistical cluster unmanned plane again and dispatches
Task；
When decision monitoring unmanned to task number increases, task scheduling modules determine emerging task object position
With it is capable complete new task cluster unmanned plane, unmanned aerial vehicle group execute Fight Fire in Forest task during, it is possible that newly
Point of origin, decision unmanned plane obtains new aiming spot on fire from cluster unmanned plane by communication module, and according to current
Each cluster unmanned plane residue cruising ability and state determine the cluster unmanned plane for the task that can complete newly to put out a fire；
When decision monitoring unmanned to task number reduce when, task scheduling modules determine execute the task cluster nobody
Machine sends pause instruction to the cluster unmanned plane, and the pause of cluster unmanned plane executes the task and waits new assignment instructions to be received,
During unmanned aerial vehicle group executes Fight Fire in Forest task, such as there is the case where target point of origin extinguishing, go to the target position
Cluster unmanned plane can not just continue the task, and decision unmanned plane needs to send pause instruction to the cluster unmanned plane and distributes for it
New task；
The task scheduling modules of step 3c, decision unmanned plane by redefining for task and fly according to different decision schemes
Walking along the street diameter distributes to each cluster unmanned plane by communication module, while estimating that each cluster unmanned plane completes the time of required by task；
Step 4, each cluster unmanned plane executes redefining for task according to respective flight path, and keeps forming into columns, packet
It includes in-flight to form into columns and keep, or the switching of different formation forms, or keep controlling expansion of forming into columns under formation form permanence condition, receive
Contracting and steering；
Step 5, the monitoring module of decision unmanned plane monitors each cluster unmanned plane task performance, when whole tasks are completed
When, instruction of making a return voyage is sent, unmanned aerial vehicle group drops to specified region.
Claims (6)
1. a kind of unmanned aerial vehicle group distributed task dispatching method under dynamic environment, which is characterized in that by as distributed frame
The decision unmanned plane of structure host node and from the cluster unmanned plane of node realize, include the following steps:
(1) decision unmanned plane distributes task and sends and executes instruction to each cluster unmanned plane:
(1a) decision unmanned plane determines cluster drone status, quantity, each cluster unmanned plane during flying ginseng including cluster unmanned plane
Several and cruising ability；
(1b) decision unmanned plane determines pending task situation, including task number, task object position and task character；
(1c) decision unmanned plane distributes pending according to cluster drone status and pending task situation to each cluster unmanned plane
Task, and send and execute instruction；
(2) each cluster unmanned plane executes instruction execution task according to what decision unmanned plane was sent, and passes through heartbeat mechanism and decision
Unmanned plane is communicated, and sends respective flight position, cruising ability and task execution situation data to decision unmanned plane；
(3) decision unmanned plane optimizes scheduling to each cluster unmanned plane task:
(3a) decision unmanned plane monitors cluster drone status and task execution situation in real time, obtains real time environment situation
Assessment result, and the real time environment state that the data and decision monitoring unmanned sent according to each cluster unmanned plane received obtain
Gesture assessment result, judges whether to optimizing and scheduling task, if so, executing step (3b), otherwise each cluster unmanned plane is held by original
Row instruction continues to execute task；Wherein, each cluster drone status and task execution situation of decision unmanned plane real time monitoring, packet
Include each cluster unmanned plane during flying position and cruising ability and current task number, task object position and task character；
(3b) decision unmanned plane formulates different decision-making parties according to the current each cluster drone status and task situation that monitor
Case:
When to having, cluster unmanned plane is operating abnormally decision monitoring unmanned or cluster unmanned plane cruising ability can not support that its is complete
When at task, the cluster unmanned plane number that can continue to execute task is redefined, and counts and abnormal cluster unmanned plane occurs
Can not executing for task determines and can replace the cluster unmanned plane that abnormal unmanned plane executes task；
When decision monitoring unmanned to task number increases, determines emerging task object position and have the ability to complete newly appointed
The cluster unmanned plane of business；
When decision monitoring unmanned to task number reduce when, determine execute the task cluster unmanned plane, to the cluster nobody
Machine sends pause instruction, and the pause of cluster unmanned plane executes the task and waits new assignment instructions to be received；
(3c) decision unmanned plane distributes to redefining for task and its corresponding flight path according to different decision schemes
Each cluster unmanned plane；
(4) each cluster unmanned plane executes redefining for task according to respective flight path, and keeps forming into columns；
(5) each cluster unmanned plane task performance of decision monitoring unmanned sends instruction of making a return voyage when whole tasks are completed,
Unmanned aerial vehicle group drops to specified region.
2. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, feature exist
In each cluster unmanned plane described in step (2) executes instruction execution task according to what decision unmanned plane was sent, and passes through heartbeat
Mechanism is communicated with decision unmanned plane, realizes step are as follows:
(2a) each cluster unmanned plane sends a data packet to decision unmanned plane at regular intervals and waits decision unmanned plane
Returned data, the data in the data packet of transmission include that the ID of cluster unmanned plane, current flight position, cruising ability and task are complete
At situation；
The data packet that (2b) decision unmanned plane sends each cluster unmanned plane received parses, and obtains each cluster unmanned plane
The data of transmission simultaneously reply a corresponding data packet to each cluster unmanned plane, the data of the data packet of reply include for cluster without
The task of man-machine distribution, the flight path of planning and environmental situation information；
(2c) each cluster unmanned plane receives the data packet that decision unmanned plane is replied, and completes heartbeat communication.
3. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, feature exist
In, each cluster unmanned plane during flying parameter described in step (1a), signal quality including each cluster unmanned plane transmission module is appointed
Reaction speed, unmanned plane during flying posture and the real-time three-dimensional coordinate position for execution module of being engaged in.
4. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, feature exist
In decision unmanned plane described in step (3a) monitors cluster drone status and task execution situation in real time, obtains
Real time environment Situation Assessment is as a result, realize step are as follows:
(3a1) decision unmanned plane arranges respective flight position, cruising ability and the task execution feelings that each cluster unmanned plane is sent
Condition data, and colliding data and invalid data therein are cleaned, obtain valid data；
(3a2) decision unmanned plane forms tracking view according to obtained valid data, and using the tracking view formed to each collection
Group's unmanned plane effective coverage range, intervisibility and mobility are assessed, and real-time task environmental situation information is obtained；
(3a3) decision unmanned plane is according to real-time task environmental situation information, to environment potential threat and task object urgency level
It is assessed, obtains real-time task environmental situation assessment result.
5. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, feature exist
In, task character described in step (1b), including cruise, target reconnaissance, interference and counter-measure and target rescue.
6. the unmanned aerial vehicle group distributed task dispatching method under a kind of dynamic environment according to claim 1, feature exist
In holding described in step (4) is formed into columns, and refers to holding of in-flight forming into columns, or the switching of different formation forms, or keep forming into columns
Control, which is formed into columns, under form permanence condition expands, shrinks and turns to.
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