Heterogeneous Multi-UAV Distributed Task Allocation Based on CBBA

科研成果: 书/报告/会议事项章节会议稿件同行评审

6 引用 (Scopus)

摘要

This paper models and analyzes the task assignment problem of heterogeneous multi-UAV collaborative materials delivery, and establishes a distribution decision model for heterogeneous multi-UAV with multi-task locations. Combined with the basic CBBA (Consensus Based Bundle Algorithm) and the characteristics of multi-task allocation, a "Closed-Loop CBBA" that considers returning to the take-off base after the completion of the UAV mission is proposed. The corresponding simulation calculation and analysis are carried out using the proposed algorithm. The simulation results show that the Closed-Loop CBBA can make the task assignment result more inclined to make each UAV perform the task location closer to its own take-off base. By comparing with the basic CBBA, the assignment result obtained by the "Closed-Loop CBBA" is reasonable and in line with expectations.

源语言英语
主期刊名Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
出版商Institute of Electrical and Electronics Engineers Inc.
704-709
页数6
ISBN(电子版)9781728137926
DOI
出版状态已出版 - 10月 2019
活动2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, 中国
期限: 17 10月 201919 10月 2019

出版系列

姓名Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

会议

会议2019 IEEE International Conference on Unmanned Systems, ICUS 2019
国家/地区中国
Beijing
时期17/10/1919/10/19

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