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A Multi-UAV Cooperative Task Scheduling Method Based on Improved Discrete Particle Swarm Optimization Algorithm

A discrete particle swarm and task scheduling technology, applied in computing, artificial life, computing models, etc., can solve problems such as reducing algorithm efficiency, increasing algorithm complexity, and easily falling into local extremum, achieving the effect of solving constraint problems

Active Publication Date: 2021-06-18
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Technical problem: In the scheduling of multi-UAV cooperative multi-target attack tasks, the task scheduling scheme must meet multiple complex constraints, and when using the discrete particle swarm optimization algorithm, new particles can be generated through iteration It is often difficult to meet the constraints of the task. After the update is completed, it is necessary to perform secondary detection and modification on the generated new particles, which greatly increases the complexity of the algorithm and reduces the efficiency of the algorithm, and the particle swarm algorithm is extremely fast. Fast, very easy to fall into local extremum

Method used

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  • A Multi-UAV Cooperative Task Scheduling Method Based on Improved Discrete Particle Swarm Optimization Algorithm
  • A Multi-UAV Cooperative Task Scheduling Method Based on Improved Discrete Particle Swarm Optimization Algorithm
  • A Multi-UAV Cooperative Task Scheduling Method Based on Improved Discrete Particle Swarm Optimization Algorithm

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Embodiment 1

[0049] A multi-UAV cooperative task scheduling method based on improved discrete particle swarm algorithm, comprising the following steps:

[0050] Step 1) Input the total number M of enemy targets, traverse each target T j , enter the target T j The vertical and horizontal coordinates of The j represents the serial number of the target;

[0051] Step 2) Input the total number of drones N, traverse each drone U k , enter UAV U k The vertical and horizontal coordinates of and types of drones The type of the unmanned aerial vehicle includes two kinds of reconnaissance unmanned aerial vehicle and combat unmanned aerial vehicle, and said k represents the serial number of unmanned aerial vehicle;

[0052] Step 3) Initialize an empty task scheduling set PList, put all targets into a queue, each target T j reconnaissance missions that in turn include targets attack mission and strike effect assessment tasks Randomly select a target from the target queue to take out th...

Embodiment 2

[0087] A multi-UAV cooperative task scheduling method based on improved discrete particle swarm algorithm, comprising the following steps

[0088] Step 1) Enter the total number of targets 2, and input the position T of the target 1 (50, 100), T 2 (75, 75).

[0089] Step 2) Input the total number of drones 4, input the initial position and type U of the drones 1 (25, 75, scout drone), U 2 (80, 90, Scout Drone), U 3 (50, 50, Combat Drone), U 4 (75, 50, Combat Drone).

[0090] Step 3) Initialize task scheduling set Plist, set

[0091] Step 4) Calculate the fitness value of each individual in the collection Plist, below with D 1 To illustrate the calculation method with an example, by P 1 0 It can be seen but

[0092] Step 5) Update the individual extremum of each individual, since it is the first iteration, the individual extremum of all individuals is itself.

[0093] Step 6) Update the group extremum value of the population, traverse each individual in th...

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Abstract

The invention discloses a multi-UAV cooperative task scheduling method based on an improved discrete particle swarm algorithm, which solves the problem of UAV cooperative multi-target strike task scheduling according to the position of an enemy target and the basic information of the UAV. The invention integrates the constraint condition of task scheduling into the update of particles, improves the iterative mode of particles by using cross mutation, and avoids the algorithm from falling into local extreme value by using mutation operation. The invention uses the improved discrete particle swarm algorithm to conduct comparative research on the scheduling scheme according to the voyage cost of the drone to complete the task and the maximum exposure time of the drone, and obtains the best task scheduling scheme through multiple iterations.

Description

technical field [0001] The invention relates to the field of multi-UAV collaboration, in particular to an improved multi-UAV task scheduling method based on discrete particle swarm algorithm. Background technique [0002] In the multi-UAV self-organizing task, the task scheduling control directly affects the work efficiency of the multi-machine cooperative system, so the present invention will use the particle swarm algorithm to focus on the multi-UAV self-organizing task scheduling control. The multi-unmanned aerial vehicle task scheduling control researched by the present invention means that after the enemy target is found in the coverage area, the task of reconnaissance, attack and strike evaluation of the enemy target is reasonably assigned to the unmanned aerial vehicle performing the task. Different from traditional task scheduling, when executing multi-UAV cooperative target attack tasks, the task scheduling of UAVs needs to meet multiple complex constraints. The UA...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/06G06Q50/26G06N3/00
CPCG06N3/006G06Q10/06311G06Q50/26
Inventor 陈志王福星岳文静汪皓平狄小娟
Owner NANJING UNIV OF POSTS & TELECOMM
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