基于动态能耗的多无人机协同任务分配
Collaborative Multi-UAV Tasking Based on Dynamic Energy Consumption
史晓田 1张宏立 1董颖超1
作者信息
- 1. 新疆大学电气工程学院,新疆 乌鲁木齐 830017
- 折叠
摘要
针对多无人机物流配送存在的空载率高、能源利用效率低等问题,考虑同时送取货的多无人机配送场景和无人机实时能耗变化,提出了无人机动态能耗模型,进行了多无人机同时送取货任务分配问题的研究.用遗传算法对问题进行求解,针对经典遗传算法对初始种群的依赖性、易早熟、局部搜索能力弱等特点,设计了一种混合初始化方法,引入了食肉植物算法繁殖机制,并结合问题特性设计了内交叉策略和反馈变异策略,同时引入了过程精英策略,对遗传算法进行了改进.实验结果表明,改进的遗传算法可以有效求解基于动态能耗的多无人机任务分配问题.
Abstract
Aiming at the problems of high idle rate and low energy utilization efficiency of multi-drone logistics distribution,a dynamic energy consumption model of UAV is proposed considering the multi-drone distribution sce-nario of simultaneous delivery and pickup and the change of real-time energy consumption of UAVs,based on which the multi-drone simultaneous delivery and pickup task allocation problem is studied.The problem is solved by a ge-netic algorithm,and a hybrid initialization method is designed for the classical genetic algorithm·s dependence on the initial population,easy premature maturity and weak local search ability,and a carnivorous plant algorithm reproduc-tion mechanism is introduced,and the genetic algorithm is improved by designing an in-crossing strategy and a feed-back variation strategy combined with the problem characteristics,and a process elite strategy is introduced.The ex-perimental results show that the improved genetic algorithm can effectively solve the multi-UAV task assignment problem based on dynamic energy consumption.
关键词
多无人机/动态负载/能耗均衡/任务分配/遗传算法Key words
Multi-drones/Dynamic load/Balanced energy consumption/Task allocation/Genetic algorithm引用本文复制引用
基金项目
新疆维吾尔自治区自然科学基金青年基金(2022D01C86)
国家自然科学基金(51967019)
国家自然科学基金(52065064)
出版年
2024
NETL
NSTL
万方数据