A decentralized task planning algorithm is proposed for heterogeneous unmanned aerial vehicle(UAV)swarm with different capabilities.The algorithm extends the consensus-based bundle algorithm(CBBA)to account for a more...A decentralized task planning algorithm is proposed for heterogeneous unmanned aerial vehicle(UAV)swarm with different capabilities.The algorithm extends the consensus-based bundle algorithm(CBBA)to account for a more realistic and complex environment.The extension of the algorithm includes handling multi-agent task that requires multiple UAVs collaboratively completed in coordination,and consideration of avoiding obstacles in task scenarios.We propose a new consensus algorithm to solve the multi-agent task allocation problem and use the Dubins algorithm to design feasible paths for UAVs to avoid obstacles and consider motion constraints.Experimental results show that the CBBA extension algorithm can converge to a conflict-free and feasible solution for multi-agent task planning problems.展开更多
研究了突发新任务的动态场景下异构多无人机智能体分布式联盟任务分配问题,主要包括两方面内容:首先扩展了一致性包算法(consensus based bundle algorithm,CBBA),考虑任务载荷资源约束、子任务耦合关系约束及执行窗口约束等条件提出了...研究了突发新任务的动态场景下异构多无人机智能体分布式联盟任务分配问题,主要包括两方面内容:首先扩展了一致性包算法(consensus based bundle algorithm,CBBA),考虑任务载荷资源约束、子任务耦合关系约束及执行窗口约束等条件提出了一致性联盟算法(consensus based coalition al⁃gorithm,CBCA);其次,针对新任务出现的动态应用需求,研究了3种动态任务分配策略,分别为无重规划动态分配策略(consensus based coalition algorithm with no resetting,NR⁃CBCA)、完全重规划动态分配策略(consensus based coalition algorithm with full resetting,FR⁃CBCA)及部分重规划动态分配策略(consensus based coalition algorithm with partial resetting,PR⁃CBCA)。最后,以侦察型无人机和攻击型无人机协同执行对地侦察攻击任务为例,验证了CBCA算法的可行性及3种分配策略对动态任务场景的适用性。展开更多
基于一般的决策和规划流程,提出了一个面向兵棋推演的快速决策框架(Rapid Military Decision Framework, RMDF),该框架针对异构实体模型,通过分层的网格环境对复杂推演环境简化建模,将推演实体的作用效果,简化为地面、海上和空中三个网...基于一般的决策和规划流程,提出了一个面向兵棋推演的快速决策框架(Rapid Military Decision Framework, RMDF),该框架针对异构实体模型,通过分层的网格环境对复杂推演环境简化建模,将推演实体的作用效果,简化为地面、海上和空中三个网格环境层次上的作用效果,并以热图的形式在网格环境中显示,通过推演实体的核心参数来确定其性能模型和行为模型,并基于一致性包算法实现任务分配,生成备选行动策略,通过快速仿真实现推演策略的迭代优化,能够在推演之前或推演期间提供行动方案的快速评估,可以有效地辅助兵棋推演指挥人员进行复杂态势下的兵棋推演。展开更多
针对桥梁激光扫描巡检覆盖路径规划问题,提出基于点云切片的大型桥梁检查覆盖路径规划通用模型,这为多无人机系统桥梁覆盖路径规划提供了新的思路。首先,在点云切片的建模方法中增加补充视点,用于解决点云切片模型覆盖不完全的问题,将...针对桥梁激光扫描巡检覆盖路径规划问题,提出基于点云切片的大型桥梁检查覆盖路径规划通用模型,这为多无人机系统桥梁覆盖路径规划提供了新的思路。首先,在点云切片的建模方法中增加补充视点,用于解决点云切片模型覆盖不完全的问题,将凸包集和补充视点转化为三维空间弧集,以弧为最小优化对象,解决大型建筑遍历搜索空间庞大的问题;其次,结合SC-CBBA (split and combine-consensus based bundle algorithm)和CRSOM(clustering characteristic of cluster growing ring self-organizing map)算法,实现多无人机任务的分配以及检查路径的弧序列规划;最后,通过仿真验证了该方法可以有效解决桥梁覆盖路径规划问题。展开更多
文摘A decentralized task planning algorithm is proposed for heterogeneous unmanned aerial vehicle(UAV)swarm with different capabilities.The algorithm extends the consensus-based bundle algorithm(CBBA)to account for a more realistic and complex environment.The extension of the algorithm includes handling multi-agent task that requires multiple UAVs collaboratively completed in coordination,and consideration of avoiding obstacles in task scenarios.We propose a new consensus algorithm to solve the multi-agent task allocation problem and use the Dubins algorithm to design feasible paths for UAVs to avoid obstacles and consider motion constraints.Experimental results show that the CBBA extension algorithm can converge to a conflict-free and feasible solution for multi-agent task planning problems.
文摘研究了突发新任务的动态场景下异构多无人机智能体分布式联盟任务分配问题,主要包括两方面内容:首先扩展了一致性包算法(consensus based bundle algorithm,CBBA),考虑任务载荷资源约束、子任务耦合关系约束及执行窗口约束等条件提出了一致性联盟算法(consensus based coalition al⁃gorithm,CBCA);其次,针对新任务出现的动态应用需求,研究了3种动态任务分配策略,分别为无重规划动态分配策略(consensus based coalition algorithm with no resetting,NR⁃CBCA)、完全重规划动态分配策略(consensus based coalition algorithm with full resetting,FR⁃CBCA)及部分重规划动态分配策略(consensus based coalition algorithm with partial resetting,PR⁃CBCA)。最后,以侦察型无人机和攻击型无人机协同执行对地侦察攻击任务为例,验证了CBCA算法的可行性及3种分配策略对动态任务场景的适用性。
文摘基于一般的决策和规划流程,提出了一个面向兵棋推演的快速决策框架(Rapid Military Decision Framework, RMDF),该框架针对异构实体模型,通过分层的网格环境对复杂推演环境简化建模,将推演实体的作用效果,简化为地面、海上和空中三个网格环境层次上的作用效果,并以热图的形式在网格环境中显示,通过推演实体的核心参数来确定其性能模型和行为模型,并基于一致性包算法实现任务分配,生成备选行动策略,通过快速仿真实现推演策略的迭代优化,能够在推演之前或推演期间提供行动方案的快速评估,可以有效地辅助兵棋推演指挥人员进行复杂态势下的兵棋推演。
文摘针对桥梁激光扫描巡检覆盖路径规划问题,提出基于点云切片的大型桥梁检查覆盖路径规划通用模型,这为多无人机系统桥梁覆盖路径规划提供了新的思路。首先,在点云切片的建模方法中增加补充视点,用于解决点云切片模型覆盖不完全的问题,将凸包集和补充视点转化为三维空间弧集,以弧为最小优化对象,解决大型建筑遍历搜索空间庞大的问题;其次,结合SC-CBBA (split and combine-consensus based bundle algorithm)和CRSOM(clustering characteristic of cluster growing ring self-organizing map)算法,实现多无人机任务的分配以及检查路径的弧序列规划;最后,通过仿真验证了该方法可以有效解决桥梁覆盖路径规划问题。
