CAJ | 학술논문

针对多 UAV 协同任务规划问题的复杂性,构建了多 UAV 协同任务规划系统的总体框架,分析了多 UAV 协同任务的层次特性,提出了多 UAV 协同任务规划分层策略;在不同层次上,将多 UAV 协同任务规划问题抽象为多 UAV 协同任务分配和多 UAV 协同航迹规划两个子问题;设计了任务规划逻辑流程,有效降低了任务规划问题的求解难度.对多 UAV 协同任务规划具有指导意义.
침대다 UAV 협동임무규화문제적복잡성,구건료다 UAV 협동임무규화계통적총체광가,분석료다 UAV 협동임무적층차특성,제출료다 UAV 협동임무규화분층책략;재불동층차상,장다 UAV 협동임무규화문제추상위다 UAV 협동임무분배화다 UAV 협동항적규화량개자문제;설계료임무규화라집류정,유효강저료임무규화문제적구해난도.대다 UAV 협동임무규화구유지도의의.
Aiming at the complexity of multi?UAV cooperative mission planning,the paper describes the construction of the framework of multi?UAV cooperative mission planning system,analyzes the layer characteristics of multi?UAV cooperative mission planning and presents the layered strategy for multi?UAV cooperative mission planning. On different layers,the multi?UAV coopera?tive mission planning falls into two subproblems which refer to multi?UAV task assignment and multi?UAV coordinated route plan?ning. In addition,the logical flow of the multi?UAV cooperative mission planning is designed,and thus the calculation difficulty of the task planning is efficiently reduced. The research results have guiding significance for multi?UAV cooperative task planning.