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论文:2020,Vol:38,Issue(5):1094-1104 |
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引用本文： |
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李相民, 唐嘉钰, 代进进, 薄宁. 异构多智能体联盟动态任务分配[J]. 西北工业大学学报 |
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LI Xiangmin, TANG Jiayu, DAI Jinjin, BO Ning. Dynamic Coalition Task Allocation of Heterogeneous Multiple Agents[J]. Northwestern polytechnical university |
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| 异构多智能体联盟动态任务分配 |
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| 李相民1, 唐嘉钰1, 代进进1, 薄宁2 |
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1. 海军航空大学, 山东 烟台 264001;
2. 解放军 91213 部队, 山东 烟台 264001 |
| 摘要: |
| 研究了突发新任务的动态场景下异构多无人机智能体分布式联盟任务分配问题，主要包括两方面内容：首先扩展了一致性包算法（consensus based bundle algorithm，CBBA），考虑任务载荷资源约束、子任务耦合关系约束及执行窗口约束等条件提出了一致性联盟算法（consensus based coalition algorithm，CBCA）；其次，针对新任务出现的动态应用需求，研究了3种动态任务分配策略，分别为无重规划动态分配策略（consensus based coalition algorithm with no resetting，NR-CBCA）、完全重规划动态分配策略（consensus based coalition algorithm with full resetting，FR-CBCA）及部分重规划动态分配策略（consensus based coalition algorithm with partial resetting，PR-CBCA）。最后，以侦察型无人机和攻击型无人机协同执行对地侦察攻击任务为例，验证了CBCA算法的可行性及3种分配策略对动态任务场景的适用性。 |
| 关键词:
多智能体系统
分布式决策
一致性包算法
动态任务分配
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| Dynamic Coalition Task Allocation of Heterogeneous Multiple Agents |
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| LI Xiangmin1, TANG Jiayu1, DAI Jinjin1, BO Ning2 |
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1. Naval Aviation University, Yantai 264001, China;
2. Unit 91213 of PLA, Yantai 264001, China |
| Abstract: |
| The dynamic coalition task allocation of heterogeneous multiple UAV agents is researched, which is divided into two parts. Firstly, the consensus based coalition algorithm(CBCA) is presented via consensus based bundle algorithm(CBBA), considering complex constraints of specific equipment requirements and coupling the relationships between the subtasks and the time windows. Secondly, three dynamic planning strategies are proposed in cope with appearance of new tasks during the allocation process. Finally, the feasibility and applicability of the present algorithm and dynamic planning strategies are validated in the scenario of a search and attack mission executed by multiple unmanned search aerial vehicles(USAVs) and unmanned combat aerial vehicles (UCAVs). |
| Key words:
multi-agent system
distributed decision making
consensus-based bundle algorithm(CBBA)
dynamic task allocation
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| 收稿日期: 2019-12-08
修回日期:
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| DOI: 10.1051/jnwpu/20203851094 |
| 通讯作者:
Email： |
| 作者简介: 李相民(1965-),海军航空大学教授,主要从事火力指挥与控制研究。
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