引用本文:彭雅兰,段海滨,张岱峰,魏晨.仿灰狼合作捕食行为的无人机集群动态任务分配[J].控制理论与应用,2021,38(11):1855~1862.[点击复制]
PENG Ya-lan,DUAN Hai-bin,ZHANG Dai-feng,WEI Chen.Unmanned aerial vehicle swarm dynamic mission planning inspired by cooperative predation of wolf-pack[J].Control Theory and Technology,2021,38(11):1855~1862.[点击复制]
仿灰狼合作捕食行为的无人机集群动态任务分配
Unmanned aerial vehicle swarm dynamic mission planning inspired by cooperative predation of wolf-pack
摘要点击 1788  全文点击 565  投稿时间：2021-05-22  修订日期：2021-11-24
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DOI编号  10.7641/CTA.2021.10436
  2021,38(11):1855-1862
中文关键词  无人机  灰狼  合作捕食  任务分配
英文关键词  unmanned aerial vehicles  wolf-pack  predatory  mission planning
基金项目  科技部科技创新2030–“新一代人工智能”重大项目(2018AAA0102303)资助, 国家自然科学基金项目(91948204, U20B2071, U1913602, T2121003, U19B2033)资助.
作者单位E-mail
彭雅兰 北京航空航天大学自动化学院 pylok123@sina.com 
段海滨* 北京航空航天大学自动化学院 hbduan@buaa.edu.cn 
张岱峰 北京航空航天大学自动化学院  
魏晨 北京航空航天大学自动化学院  
中文摘要
      大规模无人机集群可以承担单个无人机无法完成的复杂任务, 为提高无人机集群执行任务的成功率与可 靠性, 综合考虑资源均衡与多目标分配的任务规划必不可少. 灰狼是一种典型的团队合作狩猎动物, 在捕食过程中 体现出明显的社会层级结构与合作捕食行为. 通过分析灰狼群体的狩猎过程, 对灰狼的群体交互机制与合作捕食行 为建模; 在此基础上, 将灰狼合作捕食行为机制映射至无人机集群动态任务分配中, 给出了无人机集群动态任务分 配流程. 仿真结果表明, 当无人机集群数量与任务节点关系不同时, 所提无人机集群动态任务分配方法在资源均衡 度与有效性方面均有明显优势.
英文摘要
      Large scale uxnmanned aerial vehicle (UAV) swarm can answer for the unavailable tasks for the traditional UAVs. It is necessary to consider the balance of resource and the multi-objection of mission planning for improving the success rate and the reliability of UAV swarm. Gray wolfs are typical hunting animals that tend to hunt preys by group coordination, where the social hierarchy and cooperative predation are specific characteristics in the gray wolf-pack hunting processes. The group interaction mechanism and the cooperative hunting behavior of gray wolfs are modeled by analyzing the hunting process of gray wolf-pack. On this basis, the gray wolf cooperative predation behavior mechanism is mapped to the UAV cluster dynamic task allocation, and the UAV cluster dynamic task allocation process is established. The simulation results show that when the relationship between the number of UAV clusters and task nodes is different, the proposed dynamic task allocation method has obvious advantages in resource balance and effectiveness.