面向突发故障的分布式多无人机任务重规划方法

针对分布式多无人机系统执行任务时发生故障的情况,提出一种面向故障的任务重规划方法.首先,依据分布式架构,考虑通信延迟约束,建立多无人机系统遭遇故障时的局部任务重规划问题模型,设计故障无人机、健康无人机的重规划框架.依此框架,考虑无人机调度时所需的空间、时间资源,根据故障后的无人机通信拓扑,制定子系统划分规则;然后,根据子系统内在线无人机与待执行任务间的映射关系,提出基于收益动态调整规则和一致性协调规则的拍卖算法,实现针对不同情况的任务重分配;最后,考虑任务重分配与航迹重规划间的耦合关系,在任务重分配阶段引入RRT*算法预估的航迹代价,使得分配结果更合理.仿真结果表明,在考虑实际环境中无人机会发生故障的情况,该方法能够有效完成任务重规划.

Mission replanning method of distributed multiple unmanned aerial vehicles for pop-up faults

To solve the problem of task reallocation and path replanning for distributed multiple unmanned aerial vehicles (multi-UAVs) when pop-faults happen in their missions'' execution, a mission replanning method is proposed. First, according to the distributed framework, a model of the local mission replanning when pop-up faults happen to multi-UAVs is constructed, considering the communication delay. Then, replanning frameworks for malfunctioning UAVs and healthy UAVs are established respectively. Considering the utilization of space and time in UAVs scheduling and communication topology after faults happenning, a subsystem division rule is presented. In addition, the mapping relationships between the UAVs and the tasks in the subsystems may differ from others'', so auction algorithms based on dynamic benefit and consensus rules are proposed respectively. Considering the coupling between task reallocation and path replanning, an estimation about flight route using the RRT* algorithm is introduced in the task reallocation, so that the results will be more reasonable. The simulation results show that, the proposed method can effectively solve the problem of mission replanning when pop-faults happen in the multi-UAVs in real environment.