面 向 任 务 需 求 的 模 块 化 无 人 机 配 置 方 法

A configuration method for constructing modular Unmanned Aerial Vehicles（UAVs）is proposed to meet their mission requirements under cost constraints. Firstly，the set of mission requirements and module alternative ele⁃ ments are constructed. The correlation between mission requirements and module alternative elements is established. A demand satisfaction evaluation algorithm is built by selecting the overall costs of UAVs as the constraint condition. The particle swarm optimization algorithm is introduced to obtain the optimal configuration plan of the special-use UAV modules in the evaluation model. A numerical example is given to illustrate the difference between the proposed algo⁃ rithm and the genetic algorithms. The results of the proposed method agree with those of the genetic algorithms. Then，a mission scenario is selected as an example，and the disposable UAVs are planned to be used in this mis⁃ sion. The modular configuration plans of three types of UAVs are constructed by the proposed method，restrained by the predetermined cost. The these plans show good agreements with the parameter configuration of disposable UAVs in previous studies. The rationality of the proposed configuration method is verified according to the calculation results of cost of each plan. Therefore，the modular UAVs configuration method can be used to achieve collaborative match of the performance of UAVs with the cost and task requirements of UAVs. Furthermore，single UAV cost and task cost of UAVs with different plans，which are obtained by the proposed configuration methods，are compared. The effects of configuration selections on the cost of single UAVs and swam UAVs are discussed. It is concluded that the pro⁃ posed configuration algorithm can be used to control the cost of a single UAV and swarm UAVs.