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多无人机协同任务分配问题是多无人机协同控制的关键。本文首先深入分析多无人机任务分配问题的特点,建立了扩展的混合整数线性规划(MILP)任务分配模型。其次,通过分析细菌觅食优化算法和粒子群优化算法的优缺点,提出一种具有较强全局搜索能力且收敛速度快的混合细菌觅食优化算法。最后将该算法应用于多无人机协同任务分配中并进行了仿真实验,仿真结果表明该方法在求解效率上比标准粒子群算法和标准细菌觅食算法有显著提高。
Multi-UAV cooperative task assignment problem is the key to multi-UAV collaborative control. In this paper, firstly, the characteristics of multi-UAV mission assignment are analyzed in depth and an extended mixed integer linear programming (MILP) task assignment model is established. Secondly, by analyzing the advantages and disadvantages of the bacterial foraging optimization algorithm and the particle swarm optimization algorithm, a novel hybrid foraging optimization algorithm with strong global search ability and fast convergence speed is proposed. Finally, the algorithm is applied to the distribution of coordinated multi-UAV missions and the simulation results show that the proposed method is significantly faster than the standard particle swarm optimization algorithm and standard bacteria foraging algorithm.