基于混合策略多目标粒子群的异构无人机协同多任务分配

王昱,马春荣,赵明月

Collaborative multi-task assignment of heterogeneous UAVs based on hybrid strategies based multi-objective particle swarm

Yu WANG,Chunrong MA,Mingyue ZHAO

表 2 无人机任务分配结果

Tab.2 Results of UAV task assignment

实例 无人机 任务分配结果 6×3 $ u_{\text{O}}^{\text{1}} $ $ {T_1}\left( {{M_{\text{O}}}} \right) \to {T_1}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{2}} $ $ {T_2}\left( {{M_{\text{O}}}} \right) \to {T_2}\left( {{M_{\text{E}}}} \right) \to {T_3}\left( {{M_{\text{O}}}} \right) \to {T_3}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{A}}^{\text{1}} $ $ {T_1}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^{\text{2}} $ $ {T_2}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^{\text{3}} $ $ {T_3}\left( {{M_{\text{A}}}} \right) $ 10×6 $ u_{\text{O}}^{\text{1}} $ $ {T_6}\left( {{M_{\text{O}}}} \right) \to {T_1}\left( {{M_{\text{O}}}} \right) \to {T_1}\left( {{M_{\text{E}}}} \right) \to {T_6}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{2}} $ $ {T_2}\left( {{M_{\text{O}}}} \right) \to {T_4}\left( {{M_{\text{O}}}} \right) \to {T_3}\left( {{M_{\text{O}}}} \right) \to {T_4}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{4}} $ $ {T_2}\left( {{M_{\text{O}}}} \right) \to {T_5}\left( {{M_{\text{O}}}} \right) \to {T_3}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{5}} $ $ {T_2}\left( {{M_{\text{O}}}} \right) \to {T_2}\left( {{M_{\text{E}}}} \right) \to {T_5}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{A}}^{\text{1}} $ $ {T_2}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^{\text{3}} $ $ \begin{gathered} {T_6}\left( {{M_{\text{A}}}} \right) \to {T_1}\left( {{M_{\text{A}}}} \right) \to {T_4}\left( {{M_{\text{A}}}} \right) \to {T_3}\left( {{M_{\text{A}}}} \right) \to {T_5}\left( {{M_{\text{A}}}} \right) \end{gathered} $ 15×10 $ u_{\text{O}}^{\text{1}} $ $ \begin{gathered} {T_2}\left( {{M_{\text{O}}}} \right) \to {T_1}\left( {{M_{\text{O}}}} \right) \to {T_6}\left( {{M_{\text{O}}}} \right) \to {T_4}\left( {{M_{\text{E}}}} \right) \to \\ {T_1}\left( {{M_{\text{E}}}} \right) \to {T_6}\left( {{M_{\text{E}}}} \right) \\ \end{gathered} $ $ u_{\text{O}}^{\text{2}} $ $ \begin{gathered} {T_{10}}\left( {{M_{\text{O}}}} \right) \to {T_3}\left( {{M_{\text{O}}}} \right) \to {T_8}\left( {{M_{\text{O}}}} \right) \to {T_9}\left( {{M_{\text{O}}}} \right) \to \\ {T_5}\left( {{M_{\text{E}}}} \right) \to {T_7}\left( {{M_{\text{E}}}} \right) \to {T_9}\left( {{M_{\text{E}}}} \right) \\ \end{gathered} $ $ u_{\text{O}}^{\text{3}} $ $ {T_4}\left( {{M_{\text{O}}}} \right) \to {T_6}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{4}} $ $ {T_2}\left( {{M_{\text{O}}}} \right) \to {T_7}\left( {{M_{\text{O}}}} \right) \to {T_4}\left( {{M_{\text{O}}}} \right) \to {T_2}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{5}} $ $ {T_7}\left( {{M_{\text{O}}}} \right) \to {T_3}\left( {{M_{\text{E}}}} \right) \to {T_8}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{O}}^{\text{7}} $ $ {T_2}\left( {{M_{\text{O}}}} \right) \to {T_5}\left( {{M_{\text{O}}}} \right) $ $ u_{\text{O}}^{\text{9}} $ $ {T_{10}}\left( {{M_{\text{E}}}} \right) $ $ u_{\text{A}}^{\text{1}} $ $ {T_7}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^{\text{2}} $ $ {T_9}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^{\text{3}} $ $ {T_3}\left( {{M_{\text{A}}}} \right) \to {T_4}\left( {{M_{\text{A}}}} \right) \to {T_{10}}\left( {{M_{\text{A}}}} \right) \to {T_6}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^5 $ $ {T_5}\left( {{M_{\text{A}}}} \right) \to {T_1}\left( {{M_{\text{A}}}} \right) \to {T_{10}}\left( {{M_{\text{A}}}} \right) $ $ u_{\text{A}}^6 $ $ {T_2}\left( {{M_{\text{A}}}} \right) \to {T_8}\left( {{M_{\text{A}}}} \right) $