多UCAV协同中基于协商的分布式任务分配研究

针对多无人作战飞机（UCAV）分布式协同任务分配问题展开研究。在对多UCAV任务分配问题进行分析的基础上，提出了基于市场协调机制的多UCAV分布式协同任务分配体系结构，设计了能够支持不同自主能力UCAV的任务控制模型，各UCAV在分布式计算的基础上进行相互协商实现动态任务分配。通过综合采用买卖合同、交换合同和聚类合同三种协调机制，实现了多UCAV协同作战中的分布式任务分配。仿真实验结果表明，基于协商的分布式任务分配方法能够快速有效地实现对态势变化的反应，对于解决作战过程中的动态任务分配具有突出优势。

Negotiation-Based Distributed Task Allocation for Cooperative Multiple Unmanned Combat Aerial Vehicles

The negotiation-based distributed task allocation method for cooperative multiple unmanned combat aerial vehicles(UCAVs) is studied in this paper.Firstly the cooperation problem of multiple UCAVs is analyzed.Then a distributed task allocation architecture based on market mechanism is presented.In this architecture,multiple UCAVs with different capacity can realize dynamic task allocation by means of distributed computation and negotiation.Buy-sell contract,swap contract and cluster contract are applied together,so that the complex distributed task allocation of multiple cooperative UCAVs is solved.Simulation results demonstrate that the approach can react to the change of situation rapidly and effectively,and be advantageous in solving the dynamic task allocation during the operation process.