区域覆盖的多机协同探测任务分配策略

为满足战场环境下对兴趣区域进行覆盖探测的任务需求,提出了一种基于区域覆盖的多无人机协同探测任务分配策略。首先通过最小圆覆盖法确定无人机在兴趣区域中的目标航迹点,其次进行多机协同任务规划,在目标分配模型的基础上进一步建立时间分配模型,然后利用改进灰狼算法对任务分配模型进行求解,最终实现资源优化分配决策方案的获取。仿真结果表明,所提算法相比其他算法具有更快的收敛速度,能够更加有效地解决区域覆盖探测资源优化分配问题。

A Multi UAV Cooperative Detection Task Allocation Strategy Based on Area Coverage

In order to meet the task requirements of coverage detection of interest areas in the battlefield environment, this paper proposes a multi UAV cooperative detection task allocation strategy based on regional coverage. Firstly, the target track point of the UAV in the region of interest is determined by the minimum circle coverage method. Secondly, the multi UAV collaborative task planning is carried out, and a time allocation model is further established based on the target allocation model, and then the improved gray wolf algorithm is used to solve the task assignment model, and finally the resource optimization allocation decision scheme is obtained. The simulation results show that the proposed algorithm is good at convergence speed compared with other algorithms, and is advantageous to the solution of optimal allocation of regional coverage detection resources.