Aiming at the complex environment, unexpected situations, and multi-constraint problems faced by unmanned aerial vehicle (UAV) mission planning systems in dynamic scenes, an online task allocation method based on improved dynamic ant colony labor division (IDACLD) is proposed. The typical scene of multi-UAV task allocation is described, and a heterogeneous multi-UAV multi-constraint model is established via multigroup settings. According to this framework, the environmental stimulus and response thresholds of the dynamic ant colony division of labor model are redesigned, the coupling between task allocation and path planning is considered, and the RRT* algorithm is used to complete path cost estimation, which makes the task allocation result more reasonable in environments containing obstacles. Considering cases involving UAV faults, this study proposes different fault handling strategies to distinguish different fault types and better fit the actual situation of UAV missions. Simulation results demonstrate that the proposed method can quickly and effectively solve the task allocation problem of multiple UAVs in a dynamic environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multi-UAV cooperative task allocation based on IDACLD


    Beteiligte:
    Zhang, Han (Herausgeber:in) / Ziliang, Xu (Autor:in) / Liu, Kaiyue (Autor:in) / Wu, Di (Autor:in) / Hu, Tao (Autor:in) / An, Lening (Autor:in) / Gong, Haochen (Autor:in) / Yang, Siwei (Autor:in) / Sun, Xuepeng (Autor:in)

    Kongress:

    First Aerospace Frontiers Conference (AFC 2024) ; 2024 ; Xi’an, China


    Erschienen in:

    Proc. SPIE ; 13218


    Erscheinungsdatum :

    16.08.2024





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Multi-AUV Cooperative Task Allocation Based on Improved Contract Network

    Li, Juan / Zhang, Kunyu / Xia, Guoqing | British Library Conference Proceedings | 2017


    Task allocation in cooperative air combat based on multi-agent coalition

    Xinghua, D. / Yangwang, F. / Bingsong, X. et al. | British Library Online Contents | 2014



    Dynamic UCAVs cooperative task allocation based on SAGWO algorithm

    Wei, Zhenglei / Zhao, Hui / Huang, Hanqiao et al. | British Library Online Contents | 2018


    Cooperative Task Allocation for Heterogeneous Unmanned Delivery Vehicles

    Han, Honggui / Zhang, Yabin / Huang, Yanting | Springer Verlag | 2024