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针对现有的多无人机协同体系结构存在的不足,将工作流理论引入到多无人机协同中,提出了基于工作流的多无人机协同体系结构。然后建立了协同作战效能指标——协同时间和协同信息量的基本模型,并针对各种多无人机协同体系结构,分析比较了它们的协同时间和协同信息量,证实了基于工作流的多无人机协同体系结构的合理性。结果表明,基于工作流的协同体系结构具有确定的协同时间和协同信息量,适用场合更为广泛。
Aiming at the shortcomings of existing multi-UAV collaborative architecture, the workflow theory is introduced into multi-UAV collaboration, and a multi-UAV collaborative architecture based on workflow is proposed. Then, the basic model of collaborative operational effectiveness index - the coordination time and the amount of collaborative information is established. According to the collaborative architecture of various UAVs, their collaboration time and the amount of collaborative information are analyzed and compared. The Rationality of UAV Collaborative Architecture. The results show that the collaborative architecture based on workflow has a certain amount of time and amount of coordination information, which is more suitable for application.