蜂群无人机充电排队优化方法

针对蜂群无人机快速充电排队问题，首次提出以平均队列长度和平均等待时间作为蜂群无人机充电排队优劣的评价指标。并通过理论分析和数值计算，在多充电平台的条件下，对蜂群无人机的分布式充电和集中式充电2种充电排队方式进行了比较和分析。得出蜂群无人机在泊松到达的条件下，随着服务强度的增加，评价指标对应的曲线出现了一个交叉点。在这个交叉点前，即服务强度较弱时，集中式充电排队方式优于分布式充电排队方式。在交叉点之后，即随着服务强度的增强，分布式充电排队方式将逐渐优于集中式充电排队方式。本文为蜂群无人机高效地完成任务提供了快速充电排队解决方案。

Optimization of charging queuing of UAV swarming

Aiming at the problem of fast charging queuing of UAV swarming, this paper, for the first time, proposes to use the average queueing length and the average waiting time as the evaluation indicators for UAV swarming charging queuing. Through theoretical analysis and numerical calculation, the charging queuing methods of distributed charging and concentrated charging are compared under the condition of multiple charging platforms. We discover that an intersection appears in the curves corresponding to the evaluation indicators with the increase of service intensity when UAV swarming meets the Poisson condition. Before the intersection of the curves, the service intensity is weak, and the method of concentrated charging is better than distributed charging. After the intersection, with the increase of service intensity, the method of distributed charging gradually becomes better than concentrated charging. This paper provides a fast charging queuing solution which helps UAV swarming complete tasks efficiently.