郭子龙, 袁莞迈(通讯作者), 王浩淼, 张颖, 马可, 申燕凯. 群体智能专辑+基于联盟博弈的无人异构集群平台设计与验证[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2023.10.25.002
引用本文: 郭子龙, 袁莞迈(通讯作者), 王浩淼, 张颖, 马可, 申燕凯. 群体智能专辑+基于联盟博弈的无人异构集群平台设计与验证[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2023.10.25.002
Design and verification of an unmanned heterogeneous cluster platform based on coalitional game theory[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2023.10.25.002
Citation: Design and verification of an unmanned heterogeneous cluster platform based on coalitional game theory[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2023.10.25.002

群体智能专辑+基于联盟博弈的无人异构集群平台设计与验证

Design and verification of an unmanned heterogeneous cluster platform based on coalitional game theory

  • 摘要: 无人异构集群平台相较于单一类型、单一个体的无人平台,能够完成更为复杂的任务,同时对严苛战场环境有着更高的适应度。为解决如何综合考虑战场环境变化与差异化的无人平台间的关系,同时及时高效的完成作战任务的问题,本文设计并验证了一种无人异构集群平台。首先,考虑异构平台在任务中的初始位置、速度、携带资源以及个体声誉等因素,建立了基于联盟博弈的任务分配算法模型。其次基于任务场景,搭建了任务所需的软件与硬件平台。最后,基于搭建的模拟战场环境,对所提算法及搭建的无人异构集群平台进行实验验证。验证结果表明,本平台能综合考虑战场态势,寻找最优的任务分配方式,并引导多无人异构平台完成任务目标。

     

    Abstract: The heterogeneous cluster of unmanned platforms can accomplish more complex tasks, and has better adaptability to harsh battlefield environments compared with a single or homogeneous platform. To solve the problem of how to enable the cluster to complete tasks in the rapidly changing battlefield environment efficiently, this paper designs and validates a heterogeneous unmanned cluster platform. The heterogeneous individuals in the cluster carry different initial resource amounts and require different amounts of resources to complete the same task. Specifically, compared to unmanned aerial vehicles (UAV), unmanned ground vehicles (UGV) often carry more resources and have a longer range. For homogeneous individuals, differences in relative position and velocity can also lead to different situations in the task. In addition, the contribution of different individuals in the execution of past tasks (individual reputation) should also be considered in the task allocation decision factor. Therefore, this paper comprehensively considers the initial position, speed, resource carrying capacity, individual reputation, and other factors of the cluster and establishes a task allocation model based on coalition game algorithm. Subsequently, the software and hardware platform built in this article is introduced. Finally, based on the simulated battlefield environment built, the proposed algorithm and the built heterogeneous unmanned cluster platform are experimentally verified. The verification results show that the platform can find the optimal task allocation method, and guide multiple heterogeneous unmanned platforms to complete task objectives by comprehensively considering the battlefield situation.

     

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