UAV Formation Collaborative Search and Dynamic Task Allocation Method under Uncertain Environment
Over the past few years,multi-agent coordination and control solutions have been applied to many challenging civilian and defense applications: surveillance,search and rescue,and fire monitoring.The existing multi-UAV dynamic task allocation method needs long computation time and does not apply to hard real-time and uncertain environment conditions.A relatively simple coordination mechanism was designed in this paper in an attempt to solve the problem that exists in the multi-agent systems method.Only with three times of information exchanges,the UAVs can enter their own flight modes,and this avoids the frequent communication problems between the UAVs.What’s more,the UAV guidance law was designed,and the task allocation strategy and vehicle’s coupling and temporal correlation are combined in this paper in order to verify the feasibility of the dynamic task allocation strategies in a dynamic process.Digital simulation was performed in two scales of UAV formation in order to compare the new task allocation method with the existing methods.
Dynamic task allocation UAV formation Guidance law PTA
JIA Xiang WU Sentang SUN Jian
School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astron System Engineering Research Institute,CSSC,Beijing100094
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
947-953
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）