TY - GEN
T1 - Real-time task reallocation for large-scale UAV team in dynamic environment
AU - Yan, Fei
AU - Shao, Zhuang
AU - Zhou, Zhou
AU - Zhu, Xiaoping
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.
AB - To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.
KW - Auction algorithm
KW - Cooperative task allocation
KW - Large-scale UAV team
KW - Man in-loop
UR - http://www.scopus.com/inward/record.url?scp=85015154195&partnerID=8YFLogxK
U2 - 10.1109/CGNCC.2016.7828822
DO - 10.1109/CGNCC.2016.7828822
M3 - 会议稿件
AN - SCOPUS:85015154195
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 419
EP - 426
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -