航空学报2025，Vol.46Issue(11)：321-341,21.DOI:10.7527/S1000-6893.2024.31348
空地异构协同轮值任务分配方法
Aerial-ground heterogeneous cooperation based on multi-round task allocation method
邸伟承 1许晋魁 2卫子兴 1向锦武 1屠展3
作者信息
- 1. 北京航空航天大学 航空科学与工程学院,北京 100191
- 2. 北京航空航天大学 未来空天技术学院,北京 100191
- 3. 北京航空航天大学 无人系统研究院,北京 100191
- 折叠
摘要
Abstract
UAVs are widely used in civilian applications,especially in the era of the low-altitude economy.These ap-plications often involve multi-rounds and long durations.However,small or medium UAVs generally have limited en-durance.Compared to recharge after returning to their home base,cooperation with mobile ground-based energy-support UGVs may improve efficiency.This cooperation,however,imposes higher demands on task allocation.To address this issue,this paper considers the endurance constraints of UAVs and proposes a dynamic environmental modeling method to describe the usage of multi-round.Specifically,a grid-based dynamic graph model is designed to update waypoint deployment between each round.Aerial-ground heterogeneous platforms plan routes between way-points while accounting for no-fly and no-entry zones.Through this,an energy cost matrix is constructed.Additionally,a hierarchical fast-solving method for multi-round task allocation is developed,which can be divided into two different levels.At the first level,a clustering algorithm is used to achieve uniform partitioning of way-points into subregions.At the second level,an improved multi-objective genetic algorithm is developed to allocate tasks in two scenarios:within the subregions for UAVs and between the subregions for UGVs.Finally,the parameters affecting task duration and take-off/landing cycles are analyzed.Simulations and experiments validate the efficiency of this heterogeneous system in long-duration and large-area missions.This paper uses the concepts of endurance constraints and redeployment for heterogeneous aerial-ground task allocation and provides a comprehensive framework with real-time applicability,of-fering a valuable reference for the deployment of autonomous missions.关键词
空地异构协同/任务分配/任务优化/路径规划/长期自主任务Key words
aerial-ground heterogeneous collaboration/task allocation/task optimization/trajectory planning/long-term autonomous mission分类
航空航天引用本文复制引用
邸伟承,许晋魁,卫子兴,向锦武,屠展..空地异构协同轮值任务分配方法[J].航空学报,2025,46(11):321-341,21.
