基于改进CBBA的无人机任务分配系统研究与仿真

Research and Simulation of UAVs Task Assignment System Based on Improved CBBA

中文关键词:  改进CBBA  分布式  无人机  任务分配

英文关键词:improved CBBA  distributed  UAV  task assignment

中文摘要:

      在无人机任务分配系统中，采用基于共识的捆绑算法（Consensus-Based Bundle Algorithm，CBBA）可以高效地基于任务参数、无人机（Unmanned Aerial Vehicle，UAV）参数进行任务调度。但当某一任务需要多UAV协同完成时，CBBA无法对任务进行分解，难以作出规划。此外，当任务代价大于任务收益时，也会导致基于CBBA的任务分配失败。针对以上问题，提出一种基于合同网算法、模糊综合评价法和提升竞拍任务价值的改进CBBA，并在MATLAB/Simulink环境下进行仿真验证。仿真结果表明，相较于传统CBBA，改进CBBA能够有效解决以上问题。

英文摘要:

      In the unmanned aerial vehicle（UAV）task assigment system,consensus-based bundle algorithm (CBBA) can efficiently schedule multiple tasks based on task parameters and UAV parameters.However,CBBA can not decompose a task when multiple UAVs are required to cooperate to complete a task.In addition,when the task cost is greater than the task benefit,the task assigment will also fail.To solve the above problems,an improved CBBA based on contract net protocol algorithm,fuzzy comprehensive evaluation algorithm and enhancing the bidding task value is proposed.The simulation is verified in MATLAB/Simulink environment.The simulation results show that compared with the traditional CBBA,the improved CBBA can effectively solve the above problems.