Research On Distributed Mission Programming Technology For UAV

Mission planning for multi-UAV cooperation is one of the keys to take the advantages of multi-UAV and to maintain harmonies between the mission complexities and UAV abilities. In this paper, the mission planning for multi-UAV is studied, and a new structure of mission planning system and new mission allotment and reassignment methods for multi-UAV are put forward.Firstly, the content and structure of the mission planning for multi-UAV are studied. Then the concept of the completely distributed mission planning system for multi-UAV and the structure model of this system based on MAS(Multi-Agent System) method are put forward.Secondly, a completely distributed multi-mission allotment method for multi-UAV system based on the contract net and MAS which adapts to the completely distributed mission planning system is studied. An auction method for mission allotment based on the MAS and the improved contract net is put forward.Thirdly, the idea of mission reassignment which is carried out by repeating the process of mission allotment based on the result of the mission allotment is given. A correspondence model of this mission allotment and reassignment process is built up, and the KQML(Knowledge Query and Manipulation Language) is improved to meliorate the correspondence of the improved contract net. Then the completely distributed mission allotment and reassignment are carried out.At the end of this thesis, experiments are carried out to verify the possibility of the mission allotment and reassignment methods. The results of experiments show that the methods are efficient, and reassignment method has a good adaptability to dynamic environment.