学术
摘 要:
采用了基于合同网的分布式规划方法,研究了战场环境中多无人机动态任务调度问题,并建立了数学模型,提出了分布式的任务调度体系结构,设计了一种基于代价变换的概率路标图路径规划算法,该算法能够在任务调度阶段,快速预估无人机执行不同任务的飞行航路,扩展了合同网协议,可在一次拍卖中“并发”进行多次交易,提高了任务调度的效率。通过多种合同类型的综合,解决了复杂战场态势下的任务调度问题。[著者文摘]
文章出处:
《计算机工程》-2007年33卷19期 -36-38页
栏目信息:
分 类 号:
文献标识码:
A
文章编号:
1000-3428（2007）19-0036-03
Dynamic Tasks Scheduling of Multiple Unmanned Aerial Vehicle in Battlefield Environment
LONG Tao,CHEN Yan,HUO Xiao-hua,SHEN Lin-cheng（College of Mechatronic Engineering and Automation,National University of Defense Technology,Changsha 410073）
Abstract:
This paper studies distributed planning techniques based on contract net for dynamic tasks scheduling of multiple unmanned aerial vehicles（UAVs） in battlefield,presents a multi-UAV tasks scheduling model,develops and a distributed tasks scheduling architecture is developed.A novel path planning algorithm based on probabilistic road maps is designed,which can plan predictive routes between the UAV and multiple tasks rapidly.Contract net protocols are expanded to simultaneity deal with multiple trades in one auction,so that negotiation efficiency is improved.By integreting several contract types which can work together,tasks scheduling in complex battlefield situations is solved.[著者文摘]
Key words:
unmanned aerial vehicle;task scheduling;contract net;probabilistic road maps
基金资助:
国家“973”计划基金资助项目（5130801）
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