基于机群关系特征的多机协同作战任务分配

doi:10.12305/j.issn.1001-506X.2022.06.16

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (6): 1897-1906.doi: 10.12305/j.issn.1001-506X.2022.06.16

基于机群关系特征的多机协同作战任务分配

岳程斐^1,*, 薛正华^1,², 姚蔚然³, 曹喜滨²

1. 哈尔滨工业大学(深圳)空间科学与应用技术研究院, 广东深圳 518055
2. 哈尔滨工业大学卫星技术研究所, 黑龙江哈尔滨 150001
3. 哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001

收稿日期:2021-06-19 出版日期:2022-05-30 发布日期:2022-05-30
通讯作者: 岳程斐
作者简介:岳程斐 (1989—), 男, 副教授, 博士, 主要研究方向为新概念航天器设计、航天器姿态控制、在轨服务|薛正华 (1994—), 男, 博士研究生, 主要研究方向为多飞行器任务规划|姚蔚然 (1990—), 男, 讲师, 博士, 主要研究方向为自主无人系统|曹喜滨 (1963—), 男, 教授, 博士, 主要研究方向为航天器总体设计与系统仿真, 微小型航天器及其系统应用新概念、新方法, 航天器编队飞行动力学与控制
基金资助:
国家自然科学基金(62003115);黑龙江省自然科学基金(YQ2021F010);中国博士后科学基金(2020M681098)

Cooperative combat task allocation of multiple aerial vehicles based on the characteristic relation

Chengfei YUE^1,*, Zhenghua XUE^1,², Weiran YAO³, Xibin CAO²

1. Institute of Space Science and Applied Technology, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China
2. Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150001, China
3. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2021-06-19 Online:2022-05-30 Published:2022-05-30
Contact: Chengfei YUE

摘要/Abstract

摘要：

本文研究多机协同作战的任务分配问题。首先, 根据不同飞机种类的特点提出了任务适应度概念, 用以描述不同任务场景下各机种执行该任务的相对优劣程度。其次, 根据同一机群内和不同机群间的飞机单元执行同一任务时的相互关系, 提出了关系特征函数, 用以描述执行同一任务时其他执行单元对自身效能的影响。再次, 针对某一任务需要多架飞机单元共同完成的实战需求, 设计了考虑任务适应度和机群关系特征的全局收益指标, 并通过求解最优化问题实现了多机种协同作战收益最大化。最后, 针对典型的多机协同作战场景, 给定任务需求后进行求解, 得到了任务分配结果。结果表明, 所提出的方法能够充分利用不同机种的各自优势及机群内外成员关系提高全局收益, 对多机协同作战任务分配问题具有重要的意义。

关键词: 多机种, 协同作战, 任务分配, 任务适应度, 机群关系特征

Abstract:

This paper studies the task allocation problem of multiple aerial vehicles cooperative operation. Firstly, according to the characteristics of different aerial vehicle types, the concept of task adaptability is proposed to describe the relative pros and cons of different aerial vehicle types in different mission scenarios. Secondly, based on the relation of aerial vehicles between the same fleets or different fleets, a characteristic relation function is proposed to describe the impact of other aerial vehicles on their own performance when performing the same task. Thirdly, in response to the task requirements which multiple aerial vehicles complete together, a global profit index considering the task adaptability and the characteristic relation of aerial fleets is designed, and by solving the optimization problem, the multiple aerial vehicles cooperative operation benefit is maximized. Finally, for the typical aerial vehicles cooperative combat scenarios, by solving the above optimization problem, the task assignment result is obtained. The results show that the proposed global profit model is reasonable and can make full use of the advantages of multiple aerial vehicles and the relation between members inside and outside the fleet to increase the overall revenue. It has important significance for the assignment of aerial vehicles cooperative operation tasks.

Key words: multiple aerial vehicle types, cooperative operation, task allocation, task adaptability, characteristic relation of aerial fleets

中图分类号:

岳程斐, 薛正华, 姚蔚然, 曹喜滨. 基于机群关系特征的多机协同作战任务分配[J]. 系统工程与电子技术, 2022, 44(6): 1897-1906.

Chengfei YUE, Zhenghua XUE, Weiran YAO, Xibin CAO. Cooperative combat task allocation of multiple aerial vehicles based on the characteristic relation[J]. Systems Engineering and Electronics, 2022, 44(6): 1897-1906.

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标度	含义
1	A_i与A_j同样重要
3	A_i比A_j稍为重要
5	A_i比A_j重要
7	A_i比A_j重要很多
9	A_i比A_j绝对重要
2, 4, 6, 8	上述两相邻判断的中值

指标	n
指标	1	2	3	4	5	6	7	8
RI	0	0	0.52	0.89	1.12	1.24	1.36	1.41

机群A参数	A_M1	A_M2	A_M3	A_U4	A_U5	A_U6
折损惩罚值	15	15	15	1.5	1.5	1.5

机群B参数	B_M1	B _M2	B _M3	B _U4	B _U5	B _U6
折损惩罚值	15	15	15	1.5	1.5	1.5

参数	任务1	任务2	任务3	任务4
λ₁	0.4	0.1	1.4	1.4
λ₂	1.1	2.4	0.4	0.2
p₁/%	ξ₁=25	ξ₂=50	ξ₃=75	ξ₃=75
p₂/%	u₃=75	u₃=75	u₂=50	u₁=25
f₁	f₁¹(M, p₁¹)=0.7	f₁²(M, p₁²)=0.6	f₁³(M, p₁³)=0.3	f₁⁴(M, p₁⁴)=0.3
f₁	f₁¹(U, p₁¹)=0.9	f₁²(U, p₁²)=0.8	f₁³(U, p₁³)=0.1	f₁⁴(U, p₁⁴)=0.1
f₂	f₂¹(M, p₂¹)=0.1	f₂²(M, p₂²)=0.1	f₂³(M, p₂³)=0.2	f₂⁴(M, p₂⁴)=0.9
f₂	f₂¹(U, p₂¹)=0.3	f₂²(U, p₂²)=0.3	f₂³(U, p₂³)=0.6	f₂⁴(U, p₂⁴)=0.8

机种	任务1	任务2	任务3	任务4
机种1	F(M)=0.4	F(M)=0.3	F(M)=0.5	F(M)=0.6
机种2	F(U)=0.7	F(U)=0.8	F(U)=0.4	F(U)=0.3

基于机群关系特征的多机协同作战任务分配

Cooperative combat task allocation of multiple aerial vehicles based on the characteristic relation

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图/表 14

参考文献 23

相关文章 15

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关系	A1	A2	A3	A4	A5	A6	B1	B2	B3	B4	B5	B6
A1	0	0	1	0	1	0	-1	-1	0	0	0	0
A2	0	0	0	1	1	1	-1	0	-1	0	-1	-1
A3	0	0	0	1	1	1	-1	-1	-1	0	0	0
A4	0	0	0	0	0	0	0	-1	-1	0	-1	0
A5	0	0	0	0	0	1	-1	0	-1	0	-1	0
A6	0	0	0	0	0	0	-1	0	0	0	0	-1
B1	-1	-1	-1	0	-1	-1	0	0	1	0	1	0
B2	-1	0	-1	-1	0	0	0	0	0	0	0	0
B3	0	-1	-1	-1	-1	0	0	0	0	0	1	0
B4	0	0	0	0	0	0	0	0	0	0	1	1
B5	0	-1	0	-1	-1	0	0	0	0	0	0	0
B6	0	-1	0	0	0	-1	0	0	0	0	0	0

关系考虑	任务1	任务2	任务3	任务4	分配结果关系数目
不考虑竞合	A_U4 A_U5 B_U4	A_U6 B_U5 B_U6	A_M1 B_M2 B_M3	A_M2 A_M3 B_M1	合作: 0 竞争: 0
只考虑合作	A_U4 B_U4 B_U6	A_U5 A_U6 B_U5	A_M1 A_M2 A_M3	B_M1 B_M2 B_M3	合作: 4 竞争: 0
只考虑竞争	A_U4 A_U5 A_U6	B_U4 B_U5 B_U6	A_M1 A_M3 B_M1	A_M2 B_M2 B_M3	合作: 0 竞争: 3
考虑竞争合作	A_U4 A_U6 A_M2	A_U5 B_U4 B_U6	B_U5 A_M1 A_M3	B_M1 B_M2 B_M3	合作: 5 竞争: 0

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