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考虑任务分配的无人机信息交互拓扑生成

薛莹 何锋 谷晓燕

薛莹,何锋,谷晓燕. 考虑任务分配的无人机信息交互拓扑生成[J]. 北京航空航天大学学报,2023,49(7):1787-1795 doi: 10.13700/j.bh.1001-5965.2021.0486
引用本文: 薛莹,何锋,谷晓燕. 考虑任务分配的无人机信息交互拓扑生成[J]. 北京航空航天大学学报,2023,49(7):1787-1795 doi: 10.13700/j.bh.1001-5965.2021.0486
XUE Y,HE F,GU X Y. UAV information interaction topology generation considering task allocation[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(7):1787-1795 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0486
Citation: XUE Y,HE F,GU X Y. UAV information interaction topology generation considering task allocation[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(7):1787-1795 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0486

考虑任务分配的无人机信息交互拓扑生成

doi: 10.13700/j.bh.1001-5965.2021.0486
基金项目: 国家自然科学基金(62071023)
详细信息
    通讯作者:

    E-mail:robinleo@buaa.edu.cn

  • 中图分类号: V243.1;N945.15

UAV information interaction topology generation considering task allocation

Funds: National Natural Science Foundation of China (62071023)
More Information
  • 摘要:

    无人机(UAV)持久编队信息交互拓扑的优化是保证UAV编队结构稳定性和任务执行时效性的重要基础。现有的编队生成算法针对距离因素进行权重赋值和拓扑生成,由于未考虑任务分配因素,可能会引起整体任务执行时间过长甚至任务失败的问题,对UAV的能量也造成了不必要的损耗。以任务消息传输时间和能量损耗为关键优化目标,在保证UAV编队结构稳定的前提下,提出考虑任务分配因素的信息交互拓扑生成算法,优先连接承载实时性要求较高通信任务的关键汇聚链路,对剩余链路通过引入惩罚项,在权重上进一步将任务消息传输量因素考虑在内,生成最终的信息交互拓扑。使用OMNet++进行仿真验证,相比于只考虑距离因素的信息交互拓扑生成算法,所提算法在20架UAVs编队场景下,消息传输时间方面最高降低57.3%,最低降低28.1%,关键任务消息的到达时延降低了45.2%~51.6%,而任务执行过程单UAV的能量损耗总体减少了17.5%,平均每个节点减少损耗16.1%。

     

  • 图 1  通信链路集合关系示意图

    Figure 1.  Schematic diagram of relationship between communication link sets

    图 2  同一组无人机的不同的最小刚性图

    Figure 2.  Different minimum rigidity diagrams of same group of UAVs

    图 3  任务分配与消息传递关系示意图

    Figure 3.  Relationship diagram between task allocation and message passing

    图 4  本文算法流程

    Figure 4.  Flow chart of proposed algorithm

    图 5  小规模案例使用2种算法生成的信息交互拓扑

    Figure 5.  Information interaction topology generated by two algorithms in small-scale cases

    图 6  小规模实验时2种算法生成的拓扑下部分无人机任务执行结果对比

    Figure 6.  Comparison of task execution results under two algorithms’ topologies in small-scale experiment

    图 7  2种算法下执行任务的能量消耗情况

    Figure 7.  Energy consumption of tasks under two algorithms

    图 8  复杂案例使用2种算法生成的信息交互拓扑图

    Figure 8.  Information interaction topology generated by two algorithms in complex cases

    图 9  2种算法生成的拓扑下部分无人机任务执行结果对比

    Figure 9.  Comparison of mission execution results of some UAVs under two algorithms’ topologies

    图 10  复杂场景下2种算法下执行任务的能量消耗情况

    Figure 10.  Energy consumption of tasks under two algorithms in complex experiment

    表  1  任务列表

    Table  1.   Task list

    任务组任务时间/s耗费资源后继任务
    目标侦测TD1203TD3
    TD2164TD3
    TD3208TP1
    搜索锁定TT1137TT2
    TT22010TP1
    综合导航TN1104TN5
    TN2174TN5
    TN3144TN5
    TN4135TN5
    TN5209
    信息融合TP1203TP3,TF1,TF2
    TP2161TP3,TF1,TF2
    TP3206TN5
    火力攻击TF11410TF3
    TF21310TF3
    TF31810
    下载: 导出CSV

    表  2  任务分配方案

    Table  2.   Task assignment scheme

    编号任务对应无人机后继任务
    1TD1UAV1TD3
    2TD2UAV2TD3
    3TD3UAV1TP1
    4TT1UAV3TT2
    5TT2UAV4TP1
    6TN1UAV2TN5
    7TN2UAV3TN5
    8TN3UAV6TN5
    9TN4UAV5TN5
    10TN5UAV1
    11TP1UAV8TP3,TF1,TF2
    12TP2UAV7TP3,TF1,TF2
    13TP3UAV8TN5
    14TF1UAV9TF3
    15TF2UAV10TF3
    16TF3UAV7
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-08-25
  • 录用日期:  2021-11-26
  • 网络出版日期:  2022-01-25
  • 整期出版日期:  2023-07-31

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