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复杂多约束UAVs协同目标分配的一种统一建模方法

DOI: 10.3724/SP.J.1004.2012.02038, PP. 2038-2048

Keywords: 协同目标分配,航程代价,目标分配模型,三维环境信息,多无人机

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Abstract:

?多无人机协同目标分配(Multi-UAVscooperativetargetassignmentproblem,MUCTAP)是一个条件复杂的多模型、多约束组合优化问题,很难用一致的方法获得可行的解.为解决该问题,本文对各种目标分配模型统一建模,设计了一致的模型处理方法;针对三维环境特点,提出利用空间垂直切面计算无人机估计航程代价的方法,并利用航程代价矩阵优化目标分配算法;同时加入协同约束关系计算,提高分配算法的准确性.仿真实验验证了该方法能够处理多种情况的目标分配问题,具有较高的通用性和准确性,能够有效完成多机协同目标分配任务.

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