考虑低空运行环境求解无人机任务分配问题的研究

在低空救援中如何合理地分配无人机的搜救任务长期以来都是研究的重点。在分层级分布式分配方法的基础上建立多目标多无人机任务分配模型，在模型中以搜救费用、无人机使用数量、完成任务的均衡性为目标函数，采用改进的NSGA-Ⅱ算法进行求解。结果表明：本文建立的模型有效，能在不同搜救环境下给出合理有效的分配方案；在搜救中考虑以搜救效率最高为导向时，带来无人机成本和数量的增加；当实际搜救的无人机非常有限时，则需要时间成本的投入；以经济利益为导向时，则会导致搜救时间的增加。

Research on UAV mission assignment considering low-altitude operating environment

In order to study the problem of UAV search and rescue task allocation in the collaborative search and rescue of UAVs and general aviation, a UAV task allocation model was established on the basis of previous research, and multi-objective optimization was considered. In previous studies, only search and rescue efficiency was considered. On the basis, the search and rescue cost, the number of drones used, and the balance of drone tasks are used as the objective function, and environmental factors such as terrain, wind, and the constraints of the drone battery capacity are considered in the model; in the algorithm for solving the model , Using the excellent NSGA-II algorithm to obtain the Pareto solution, which also uses the method based on opposite learning to increase the diversity and scale of the population, and finally analyze the sensitivity of the obtained solution, and give the actual result according to the result. Give reasonable suggestions on how to take different solutions in rescue scenarios.