基于CBBA的多域作战无人系统任务规划方法研究OA北大核心CSTPCD

Aiming at the distributed task planning problem of heterogeneous unmanned systems in multi-domain combat missions,firstly,a multi-domain combat mission allocation model considering such conditions as time window constraints,path constraints and others is established;secondly,the mission allocation problem of heterogeneous unmanned systems is solved based on the consensus-based bundle algorithm;finally,the consensus-based bundle algorithm is extended by using Bezier curve and particle swarm optimization algorithm,and path planning is coupled to the mission allocation process.The simulation results show that the extended consensus-based bundle algorithm can synchronously obtain the conflict-free mission allocation solution and path planning results of the unmanned system in multi-domain operations,its applicability in the mission planning of unmanned systems in multi-domain operations is verified.