CAJ | 학술논문

针对无人机协同控制问题，提出一种多无人机任务分配与航迹规划的整体控制架构。将威胁和障碍区域考虑为合理的多边形模型，使用改进的 A*算法规划出两个航迹点之间的最短路径。并利用该路径航程作为任务分配过程全局目标函数的输入，采用与协同系统相匹配的粒子结构进行改进粒子群优化（particle swarm optimization， PSO）任务分配迭代寻优。根据分配结果并考虑无人机性能约束，基于 B-spline 法平滑路径组合，生成飞行航迹。仿真结果表明，算法在保证计算速度和收敛性能的同时，能够产生合理的任务分配结果和无人机的可飞行航迹。
침대무인궤협동공제문제，제출일충다무인궤임무분배여항적규화적정체공제가구。장위협화장애구역고필위합리적다변형모형，사용개진적 A*산법규화출량개항적점지간적최단로경。병이용해로경항정작위임무분배과정전국목표함수적수입，채용여협동계통상필배적입자결구진행개진입자군우화（particle swarm optimization， PSO）임무분배질대심우。근거분배결과병고필무인궤성능약속，기우 B-spline 법평활로경조합，생성비행항적。방진결과표명，산법재보증계산속도화수렴성능적동시，능구산생합리적임무분배결과화무인궤적가비행항적。
An integrating framework of task assignment and path planning for multiple unmanned aerial ve-hicles (UAVs)is presented.To avoid the obstacles area which is represented as polygon,the shortest path seg-ment between UAVs and task can be found by the improved A* algorithm.According to this segment distance, the global objective function of task allocation is modeled.The assignment process is determined by improved particle swarm optimization (PSO),which particle structure matches the cooperative system.The B-spline method is adopted to smooth the flight path,which consists of path segments of the assignment.Numerical re-sults demonstrate that the proposed method can achieve the optimal task assignment solution and best flight routes.