一种多无人机层次化任务分配方法

针对大规模任务分配问题,为了提高任务分配的效率和合理性,提出了基于任务依赖关系和ISODATA算法相结合的任务分组方法。在任务分组基础上,从无人机负载均衡的角度出发,提出了基于资源福利的任务组级粗粒度任务分配方法,结合粒子群算法提出了任务组内的细粒度任务分配算法。通过实验仿真验证所提方法有效,且性能和灵活性较普通任务分配算法有较大的优势。

Method of multi-UAV hierarchical task allocation

Multi- UAV (unmanned aerial vehicle) task assignment is a key issue in the field of unmanned combat command and control. To improve the efficiency and rationality of algorithm for large-scale task assignment, a grouping method was first presented based on combination of task constraints and ISODATA（iterative self-organizing data analysis technique） algorithm. On the basis of the task grouping, a coarse-grained task assignment method was proposed based on UAV group resource welfare from the perspective of load balance. Combined with PSO(particle swarm optimization) a fine-grained task assignment algorithm was given. The simulation proves better effective performance and more flexibility than the ordinary task allocation algorithm.