Method enabling multiple unmanned aerial vehicles to reach multiple targets simultaneously under uncertain environments

Abstract

The invention provides a method enabling multiple unmanned aerial vehicles to reach multiple targets simultaneously under uncertain environments and belongs to the multi-unmanned aerial vehicle coordinated control field. The objective of the invention is to solve problems in multiple-unmanned aerial simultaneous arrival under uncertain environments. According to the method enabling the multiple unmanned aerial vehicles to reach the multiple targets simultaneously under the uncertain environments, uncertain distance information is represented by interval numerical values, and an auction algorithm and an interval consistency algorithm are combined together. The method includes the following steps that: with sum of the length of paths from unmanned aerial vehicles to attach targets adopted as an objective function, multi-unmanned aerial vehicle-to-multi-target task allocation methods are provided under a situation in which sudden threats exist and under a situation in which sudden threats do not exist; and the interval consistency algorithm is defined, and therefore, the method enabling the multiple unmanned aerial vehicles to reach the multiple targets simultaneously under the uncertain environments can be realized, and a time range in which the multiple unmanned aerial vehicles reach the multiple targets consistently can be obtained. With the method of the invention adopted, the multiple unmanned aerial vehicles can reach the multiple targets in the same time range. The method of the invention has the advantages of high flexibility, robustness, reliability and scalability.

Description

technical field [0001] The present invention relates to a method for multiple unmanned aerial vehicles to reach multiple targets at the same time in an uncertain environment. Specifically, it refers to a control method for multiple unmanned aerial vehicles to attack multiple targets at the same time based on an interval consistency algorithm. Man-machine coordinated control technology field. Background technique [0002] In a multi-agent system, "consistency" means that a certain state of a multi-agent tends to be the same as time changes, and the consensus algorithm is a method designed to achieve this goal. [0003] After several decades of continuous development, people's research on consistency theory has been deepened, and it has gone through three stages. Among them, the first stage (1987-1995) is called the stage of biological group behavior simulation, which studies the synergy phenomenon of biological groups in nature; the second stage is the stage of in-depth expl...

AI Technical Summary

Problems solved by technology

So far, the problem of multi-UAV cooperatively reaching multiple targets in an uncertain information environment has not been solved

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