CAJ | 학술논문

　　该文针对异构类型多目标多无人机任务分配问题，提出一种基于时间窗的多无人机联盟组任务分配方法。其核心是以空闲时间窗为调度依据进行高效且实时的任务分配。该算法首先利用冲突消解机制避免实时任务分配过程中的多机资源死锁；然后采用两阶段任务联盟组成算法形成任务联盟，实时处理突发任务，提高无人机任务分配的实时性和有效性。仿真结果表明，算法提高了无人机联盟的组成率和总体任务完成率，降低了任务执行时间，并维持了较低的计算开销。
　　해문침대이구류형다목표다무인궤임무분배문제，제출일충기우시간창적다무인궤련맹조임무분배방법。기핵심시이공한시간창위조도의거진행고효차실시적임무분배。해산법수선이용충돌소해궤제피면실시임무분배과정중적다궤자원사쇄；연후채용량계단임무련맹조성산법형성임무련맹，실시처리돌발임무，제고무인궤임무분배적실시성화유효성。방진결과표명，산법제고료무인궤련맹적조성솔화총체임무완성솔，강저료임무집행시간，병유지료교저적계산개소。
A Time Window based Unmanned Aerial Vehicle (UAV) task Coalition Formation algorithm (TWCF) is proposed to solve effectively the problem of task assignment under the scenario of multiple targets and UAVs. The main idea of TWCF is to use the free time window for high effective and real time UAV task assignment. At first, the algorithm uses congestion avoidance mechanism to avoid the resource deadlock of real time task assignment. Then, a two stage coalition member selection algorithm is proposed to prosecute emergency tasks. Moreover, the algorithm can keep the computation overhead effectively to fit the real time and low complex requirement of battlefield. The simulation results show that TWCF increases effectively the completion ratio and reduces the task completion time while the computation overhead keeps at low level all the time.