自动化学报2025，Vol.51Issue(5)：942-959,18.DOI:10.16383/j.aas.c240593
无人飞行器集群自主控制:基于联盟形成博弈的任务分配
Autonomous Control of Unmanned Aerial Vehicle Swarms:Task Allocation Based on Coalition Formation Game
摘要
Abstract
This paper presents a distributed task preallocation and reallocation method for heterogeneous un-manned aerial vehicle(UAV)swarms system based on coalition formation game to solve the task allocation prob-lem under complex and multi-constraint conditions.Considering multiple coupling constraints such as timeliness and synchronization,a task allocation model is established and an accurate energy consumption model is intro-duced to it.The task allocation problem is transformed into a coalition partitioning problem based on coalition formation game.Then a distributed task preallocation method under fault-free conditions with low complexity is de-signed,which can improve the average quality of the final solution.Furthermore,in response to the occurrence of UAV malfunctions,the motion model of healthy drones is accurately analyzed and the reallocation range is reason-ably divided.Then a task reallocation algorithm is proposed based on the preallocation results.The simulation res-ults prove the real-time performance and effectiveness of the proposed distributed task preallocation and realloca-tion method in different scenarios.关键词
联盟形成博弈/异构无人机集群/任务分配/重分配/无人机能耗Key words
Coalition formation game/heterogeneous UAV swarm/task allocation/reallocation/energy consump-tion of UAV引用本文复制引用
姜斌,马亚杰,薛舒心..无人飞行器集群自主控制:基于联盟形成博弈的任务分配[J].自动化学报,2025,51(5):942-959,18.基金项目
国家自然科学基金(62273177,62020106003,62233009),江苏省自然科学基金(BK20211566,BK20222012),教育部高校学科创新引智基地(B20007),空间智能控制技术全国重点实验室开放基金(HTKJ2023KL502006),中央高校基础科研业务费(NI2024001)资助Supported by National Natural Science Foundation of China(62273177,62020106003,62233009),Natural Science Foundation of Jiangsu Province of China(BK20211566,BK20222012),Pro-gramme of Introducing Talents of Discipline to Universities of China(B20007),Open Foundation of Science and Technology on Space Intelligent Control Laboratory(HTKJ2023KL502006),and Fundamental Research Funds for the Central Universities(NI2024001) （62273177,62020106003,62233009）
