TY - GEN
T1 - The Formation Method of Task Coalition for Multi-UAV Cooperation
AU - Ma, Yunhong
AU - Bai, Shuyao
AU - Xu, Zhao
AU - Yang, Jie
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/9
Y1 - 2020/10/9
N2 - Due to the complexity of the environment and the weakness of capability of single UAV, the task coalitions are introduced into the multi-UAV cooperation. A task coalition model is established with the objective of the shortest mission time and the minimum coalition scale under the constraint of resources. An improved NSGA-II algorithm named VC-NSGA-II is proposed to form the task coalition by adding validity check and correction rules. It is effective to solve the problem of multi-resource tasks assignment by multi-heterogeneous UAVs. An improved K-means clustering algorithm is introduced into algorithm named Cluster-VC-NSGA-II under the situation of the large-scale tasks, while the tasks are divided into several task groups before task coalition. The efficiency of the VC-NSGA-II is compared with the NSGA-II algorithm by simulation. We also compared the VC-NSGA-II with the PGPA in different task assignment situations. The simulation results also demonstrated the clustering is useful to improve the efficiency of task coalition.
AB - Due to the complexity of the environment and the weakness of capability of single UAV, the task coalitions are introduced into the multi-UAV cooperation. A task coalition model is established with the objective of the shortest mission time and the minimum coalition scale under the constraint of resources. An improved NSGA-II algorithm named VC-NSGA-II is proposed to form the task coalition by adding validity check and correction rules. It is effective to solve the problem of multi-resource tasks assignment by multi-heterogeneous UAVs. An improved K-means clustering algorithm is introduced into algorithm named Cluster-VC-NSGA-II under the situation of the large-scale tasks, while the tasks are divided into several task groups before task coalition. The efficiency of the VC-NSGA-II is compared with the NSGA-II algorithm by simulation. We also compared the VC-NSGA-II with the PGPA in different task assignment situations. The simulation results also demonstrated the clustering is useful to improve the efficiency of task coalition.
UR - http://www.scopus.com/inward/record.url?scp=85098071660&partnerID=8YFLogxK
U2 - 10.1109/ICCA51439.2020.9264544
DO - 10.1109/ICCA51439.2020.9264544
M3 - 会议稿件
AN - SCOPUS:85098071660
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 713
EP - 718
BT - 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
PB - IEEE Computer Society
T2 - 16th IEEE International Conference on Control and Automation, ICCA 2020
Y2 - 9 October 2020 through 11 October 2020
ER -