《基于溷合细菌觅食算法的多无人机任务分配研究》.pdfVIP

Jun2011 8 A erospace Control Vol29, No. 3 , 130022 多无人机协同任务分配问题是多无人机协同控制的关键本文首先 深入分析多无人机任务分配问题的特点, 建立了扩 的混合整数线性规划 (M ILP)任务分配模型其次, 通过分析细菌觅食优化算法和粒子群优化算法 的优缺点, 提出一种具有较强全局搜索能力且收敛速度快的混合细菌觅食优 化算法最后将该算法应用于多无人机协同任务分配中并进行了仿真实验, 仿真结果表明该方法在求解效率上比标准粒子群算法和标准细菌觅食算法有 显著提高 无人机; 任务分配; 混合整数线性规划模型; 细菌觅食算法 : V2 9; V24 : A : 2011) TheResearch of Cooperative TaskAssignmentofMultipleUAVs Based onHybridBacterialForagingAlgorithm YANG Shangjun WANG Shew ei TAO Jun ZHAO D elin Aviation Un iversity ofA ir Force, Changchun 130022, China Abstract The m ultiUAV coop era tiv e task assignm entp roblem is the key w ay to reso lve m ultiUAV coop er ativ e control. F irstly, thef eatures of UAV task ass ig nm ent are analyz ed in d ep th, and then the ex tended m ixed integ er linear p rogramm ing (M ILP) m odelf or task assignm ent is estab lished. D ue to the analy sis of the advantag es and d isadvantag es of the bacterialf orag ing op tmi ization algorithm and p article swarm op ti m ization, a hy brid op tim iza tion alg orithm w ith strong er g lobal search ab ility and f aster converg ence is p ro p o sed. F inally, the alg orithm app lied to mu ltiUAV coop erative task ass ig nm ent is imp lem ented and simu la ted, and the simulation results show the hy brid alg orithm is m ore eff ective than the standard PSO and bacterialf orag ing alg orithm. ey words UAV Task assignm ent M ixed integ er linear p rog ramm ing m ode B acterialf orag ing op tim iz a