多无人机协同工作流建模与分析

多无人机协同执行任务能够提升无人机的作战效能和生存性，而协同方法是协同的基础；描述了基于工作流的多无人机协同方法；通过分析单个无人机工作流执行过程，建立单个无人机工作流，研究了协同工作过程；引入Petri 网理论，使用基本 Petri 网形式化描述协同工作流，构建了多无人机协同工作流 Petri 网模型；针对所建立的协同工作流 Petri 网模型，通过构建和分析相应的可达图，验证了多无人机协同工作流的有效性；结果表明：所建立的多无人机协同工作流是有效的，基于工作流的协同方法是可行的。

Modeling and Analysis for Multi-UAV Cooperation Workflow

Cooperation of multi-UAV could improve the combat effectiveness and survivability.Cooperation method is critical to cooperation.Workflow-based multi-UAV cooperation method was described.With the execution process of one UAV’s work flow,we established one UAV’s work flow,and the cooperation process was studied.With the introduce of Petri network,basic Petri net was used to formalize cooperation work flow,and the Petri net model of multi-UAV cooperation work flow was established.For the Petri net model of multi-UAV cooperation work flow,the corresponding reachability graph was established and ana-lyzed to validate the cooperation workflow.Results show that the established cooperation work flow is effec-tive and the workflow-based cooperation method is feasible.