多无人机协同目标分配与航迹规划

Multi-UAV collaborative target allocation and track planning

摘要:

多无人机的协同目标分配是一个多模型、多约束的组合优化问题，其解空间随无人机的数量成指数上升。当以无人机协同目标分配的角度解决无人机编队切换的问题时，标准的匈牙利算法存在单个无人机飞行路径过长的问题，导致个别无人机的电量下降迅速，因此相较于其他无人机会提前降落，而且会导致其他无人机在编队切换过程中等待时间过长，进而影响整体编队飞行时长。考虑到无人机的工作环境处于三维空间及其编队切换时间的协同性,本文提出了改进的匈牙利算法，以保证在无人机飞行总移动距离尽可能小的前提下，减小单个无人机的最大移动距离，从而延长整个编队的飞行时长。经仿真对比多种算法，验证了该算法相较于匈牙利算法等其他算法具有更好的效果，能够很好的解决多无人机的编队切换问题

Abstract:

The collaborative target allocation of multiple drones is a combinatorial multi-model, multi-constrained optimization problem, whose solution space rises exponentially with the number of drones. When from the perspective of UAV（Unmanned Aerial Vehicle）collaborative target allocation to solve the problem of UAV formation switching, the standard Hungarian algorithm of a single drone flight path is too long, lead to individual drones power drops rapidly, so compared with other drones will land early, and will lead to other drones waiting time in the process of formation switching is too long, and then affect the overall formation flight time. Considering that the working environment of the UAV is in three D space and the cooperativity of formation switching time, this paper proposes an improved Hungarian algorithm, which can reduce the maximum movement distance of the single UAV as small as possible to prolong the flight time of the whole formation. By comparing various algorithms, the proposed algorithm has better results in this problem, and can well solve the formation switching problem of multiple drones.