CAJ | 학술논문

针对在实时动态条件下多UAV任务规划问题，提出了基于动态数据驱动的多UAV实时任务规划仿真平台，主要包括基于MultiUAV2的真实UAV群仿真平台和基于Multi-Agent的预测仿真平台两个部分。采用了A*算法对真实系统工作流进行探索，在此基础之上构建了多UAV合成工作流模型，然后针对动态数据注入运行仿真的问题，研究了传感器任务重置及传感器的预处理方法。最后，通过一个仿真实例验证了提出方法的可行性和有效性。
침대재실시동태조건하다UAV임무규화문제，제출료기우동태수거구동적다UAV실시임무규화방진평태，주요포괄기우MultiUAV2적진실UAV군방진평태화기우Multi-Agent적예측방진평태량개부분。채용료A*산법대진실계통공작류진행탐색，재차기출지상구건료다UAV합성공작류모형，연후침대동태수거주입운행방진적문제，연구료전감기임무중치급전감기적예처리방법。최후，통과일개방진실례험증료제출방법적가행성화유효성。
In order to achieve mission planning of Multi-UAV in the real-time and dynamic conditions,a Multi-UAV mission planning simulation system based on dynamic data driven application system(DDDAS)is proposed,mainly include real UAV swarm simulation platform based on MultiUAV2 and predictive simulation platform based on Multi-Agent. As a breakthrough point of the key technologies that addressed in the simulation system,the workflows within real-life system is discovered by using A* algorithm. Based on these analyses,a Multi-UAV workflows model is constructed,then the method of sensor re-tasking and sensor-based pre-processing are studied for injecting streaming sensor data into a running simulation. Finally,through a simulation example,the proposed method is feasibility and validity.