Faced with complex application scenarios, Multi-UAV system can break down their own capability barriers and form diverse styles. Task allocation has an extraordinary significance for the multi-UAV system, with the goal of obtaining reasonable plan. The timing coupled constraints place special requirements on task plan, increasing the complexity of task allocation calculations. The timing coupled constraints contain task coupling relationships, execution sequences and time-window requirement. In this paper, a modified method is proposed for the constraints, containing constraint description module and dynamic calculation module. The constraint description module describes the diverse coupling relationships in a uniform way. The dynamic calculation module allows for adaptive selection of tasks to participate in the calculation. This method can be effectively combined with other types of constraint handling methods or different algorithms. The method is verified by simulation experiments in the heterogeneous scenarios.
Research on Multi-UAV Task Allocation Method with Complex Timing Coupled Constraints
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 221 ; 2236-2248
2022-03-18
13 pages
Article/Chapter (Book)
Electronic Resource
English
Research on Multi-UAV Task Allocation Method with Complex Timing Coupled Constraints
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