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Uav swarm mission planning in dynamic environment using consensus-based bundle algorithm

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Version 2 2024-06-06, 00:18
Version 1 2020-05-05, 10:25
journal contribution
posted on 2024-06-18, 20:31 authored by Y Zhang, W Feng, G Shi, Frank JiangFrank Jiang, Morshed ChowdhuryMorshed Chowdhury, SH Ling
To solve the real-time complex mission-planning problem for Multiple heterogeneous Unmanned Aerial Vehicles (UAVs) in the dynamic environments, this paper addresses a new approach by effectively adapting the Consensus-Based Bundle Algorithms (CBBA) under the constraints of task timing, limited UAV resources, diverse types of tasks, dynamic addition of tasks, and real-time requirements. We introduce the dynamic task generation mechanism, which satisfied the task timing constraints. The tasks that require the cooperation of multiple UAVs are simplified into multiple sub-tasks to perform by a single UAV independently. We also introduce the asynchronous task allocation mechanism. This mechanism reduces the computational complexity of the algorithm and the communication time between UAVs. The partial task redistribution mechanism has been adopted for achieving the dynamic task allocation. The real-time performance of the algorithm is assured on the premise of optimal results. The feasibility and real-time performance of the algorithm are validated by conducting dynamic simulation experiments.

History

Journal

Sensors (Switzerland)

Volume

20

Article number

ARTN 2307

Pagination

1 - 21

Location

Switzerland

Open access

  • Yes

ISSN

1424-8220

eISSN

1424-8220

Language

English

Publication classification

C1 Refereed article in a scholarly journal

Issue

8

Publisher

MDPI