微型电脑应用

综述了近年来多无人机协同任务规划系统相关的研究成果,包括了系统架构设计、任务分配和航迹规划方法。无论是在任务规划、分配,还是在行规规划方面都需要遵循相应的原则。一般多无人机协同任务规划系统的整体架构包括了内部数据管理模块、事态/威胁评估模块、检测管理模块、任务分配模块、航迹规划模块、通信模块、协调模块和方案效能评估模块八个部分,每一部分具有不同的功能性。用于任务分配和航迹规划的算法主要有遗传算法、混合整数线性规划算法、合同网算法等;航迹规划过程中,在完成路径规划后还需对其进行平滑处理、安全距离处理和多机协同优化处理等,最终得到最优航迹。

This paper mainly summarizes the research results of multi-UAV cooperative mission planning system in recent years, including system architecture design, task allocation and path planning methods. In terms of planning and assignment, we should follow the corresponding principles. The general architecture of multi-UAV cooperative mission planning system includes eight parts: internal data management module, situation/threat assessment module, detection management module, task allocation module, route planning module, communication module, coordination module and scheme effectiveness evaluation module. Each part has different functions. The algorithms use for task allocation and route planning mainly include genetic algorithm, mixed integer linear programming algorithm, contract net algorithm, etc. In the process of route planning, after completing the path planning, it is necessary to carry out smooth processing, safe distance processing and multi aircraft collaborative optimization processing to obtain the optimal track.