Decentralized Task Assignment of Multiple UAVs Based on the Communication Strategy for Dynamic Environments
(0) This paper deals with a task assignment problem of the multiple autonomous unmanned aerial vehicles (UAVs). The task assignment problem is one of the decision making procedures of the UAV group, and it has been interpreted as a combinatorial optimization problem. Task assignment problem has been usually solved in centralized manner for the optimization aspect, but it is not suitable for the dynamic environment and the autonomous process of UAVs because of the computational and communication loads. Therefore, decentralized or distributed task assignment process is required. In this study, a real-time decentralized task assignment method is proposed for autonomous UAVs. Unlike the centralized task assignment, it requires the consideration about communications among UAV groups particularly to deal with the dynamic environment. The proposed method is divided into two stages: the order optimization stage and the communications and negotiation stage. Genetic algorithm and negotiation strategy based on one-toone communication is adopted for each stage. Through the proposed method, a non-conflicting and real-time decentralized task assignment of the multiple UAVs can be performed. The validity of the method is evaluated through the numerical simulations.
Decentralized Task Assignment Multiple UAVs Genetic Algorithm Negotiation
Choi Hyunjin Kim Youdan
School of Mechanical and Aerospace Engineering, Seoul National University,Korea School of Mechanical and Aerospace Engineering, Seoul National University, Korea
国际会议
2010 Asia-Pacific International Symposium on Aerospace Technology(2010 亚太航空航天技术研讨会 APISAT 2010)
西安
英文
522-525
2010-09-01（万方平台首次上网日期，不代表论文的发表时间）