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多无人机协同执行任务能够提升无人机的作战效能和生存性,而协同方法是协同的基础;描述了基于工作流的多无人机协同方法;通过分析单个无人机工作流执行过程,建立单个无人机工作流,研究了协同工作过程;引入Petri网理论,使用基本Petri网形式化描述协同工作流,构建了多无人机协同工作流Petri网模型;针对所建立的协同工作流Petri网模型,通过构建和分析相应的可达图,验证了多无人机协同工作流的有效性;结果表明:所建立的多无人机协同工作流是有效的,基于工作流的协同方法是可行的。
The multi-UAV collaborative mission can improve the combat effectiveness and survivability of UAVs, and the cooperative method is the basis of synergy. The multi-UAV collaborative method based on workflow is described. By analyzing the performance of a single UAV workflow, , A single drone workflow is established and the collaborative work process is studied. Petri net theory is introduced and the basic Petri net is used to formally describe the collaborative workflow. A Petri net model of multi-drone collaborative workflow is constructed. In view of the established collaborative work Flow Petri nets model, the validity of multi-UAV collaborative workflow is verified by constructing and analyzing the corresponding reachable graphs. The results show that the established multi-UAV collaborative workflow is effective and workflow-based collaborative The method is feasible.