现代电子技术2025，Vol.48Issue(10)：92-96,5.DOI:10.16652/j.issn.1004-373x.2025.10.015
基于CMA-ES算法的无人机群协同救援任务分配优化
UAV swam cooperative rescue task assignment optimization based on CMA-ES algorithm
俞佳晨 1胡剑虹 1郑恩辉1
作者信息
- 1. 中国计量大学 机电工程学院,浙江 杭州 310018
- 折叠
摘要
Abstract
The allocation of rescue tasks should not only consider the shortest navigation distance of unmanned aerial vehicle(UAV),but also minimize the average waiting time of survivors,which is a multi-objective optimization problem.In order to find the optimal solution in multi-objective scenarios,a method of collaborative rescue task allocation optimization based on covariance matrix adaptation evolutionary strategy(CMA-ES)algorithm for UAV swam is proposed.Taking the average waiting time and the shortest sailing distance as objective functions,and considering constraints such as the maximum sailing distance,taskcounts,collaborative planning,and load capacity of UAV,a CMA-ES algorithm is used to find the optimal solution of the objective function by means of the parameter optimization mechanism based on normal distribution in multidimensional space,effectively resolving conflicts between different objectives and achieving multi-objective task allocation optimization.The experimental results show that the proposed method can allocate rescue tasks reasonably,and ensure that survivors can quickly obtain supplies.The UAV navigates an average of 48.7 km,survivors wait an average of 33.4 min,and rescue tasks are completed in an average of 61.2 min.关键词
CMA-ES/无人机/协同任务分配/优化算法/目标函数/约束条件/最大航程Key words
CMA-ES/UAV/collaborative task allocation/optimization algorithm/objective function/constraint condition/maximum flight distance分类
信息技术与安全科学引用本文复制引用
俞佳晨,胡剑虹,郑恩辉..基于CMA-ES算法的无人机群协同救援任务分配优化[J].现代电子技术,2025,48(10):92-96,5.
