论文部分内容阅读
多无人机协同目标分配(Multi-UAVs cooperative target assignment problem,MUCTAP)是一个条件复杂的多模型、多约束组合优化问题,很难用一致的方法获得可行的解.为解决该问题,本文对各种目标分配模型统一建模,设计了一致的模型处理方法;针对三维环境特点,提出利用空间垂直切面计算无人机估计航程代价的方法,并利用航程代价矩阵优化目标分配算法;同时加入协同约束关系计算,提高分配算法的准确性.仿真实验验证了该方法能够处理多种情况的目标分配问题,具有较高的通用性和准确性,能够有效完成多机协同目标分配任务.
Multi-UAVs cooperative target assignment problem (MUCTAP) is a multi-model and multi-constrained combinatorial optimization problem with complex conditions, and it is difficult to obtain a feasible solution by a consistent method. To solve this problem, Aiming at the characteristics of three-dimensional environment, a method of calculating the cost of the UAV by using the vertical cross-section of the space is proposed, and the target distribution algorithm is optimized by using the voyage cost matrix. At the same time, the synergetic model processing method is added. Constraint relation and improve the accuracy of the allocation algorithm.Experimental results show that the proposed method can deal with the target allocation problem in many situations and has high versatility and accuracy and can effectively accomplish the task of multi-aircraft collaborative target allocation.