Joint Research On Task Coordination And Communication For Autonomous Unmanned System With Limited Communication

Autonomous unmanned systems are widely used in open pit transportation,field target tracking,and other scenarios due to their good autonomous decision-making ability and execution efficiency.However,in the complex communication-constrained environment,autonomous unmanned systems face challenges such as task allocation conflicts and task execution interruptions.To address the above problems,this paper focuses on joint research on task coordination and communication of two types of unmanned systems with limited communication.Firstly,a workflow-driven fleet transportation collaboration method based on dynamic rescheduling optimization is proposed to address the issue of interruption in actual transportation caused by the joint scheduling results of task collaboration and trajectory planning for unmanned transportation fleets in open-pit mines.Integrate task processes and communication information through workflow to provide a closed-loop description of fleet transportation.The model defines various types of constraints to meet the task,communication,and trajectory requirements of the fleet transportation process.According to this model,a fleet collaboration framework that combines simulation and operation is introduced,and the fleet management center uses simulation-based temporal and spatial constraint checking and processing mechanisms to dynamically reschedule fleet transportation.During the operation of the fleet,the car-following strategy in autonomous decision-making is used to reduce the impact of speed deviation on fleet connectivity during the actual driving process.The fleet also exchanges information through a sequential broadcast strategy and determines the optimal transmission link based on a data packet forwarding strategy of mode switching and forwarding priority.The simulation results verify the rationality of the fleet collaboration framework and the ability of this solution to ensure communication connectivity and reduce interruptions during transportation.And it has an excellent performance in reducing truck waiting time and improving transportation efficiency.Secondly,a token-ring-driven flexible collaboration method based on regional consistency(TRFC-RC)is proposed to solve the problem of resource waste caused by repeated task allocation in the distributed task collaboration method in the communication-limited ground-air collaboration system.On the one hand,the entire map is divided by regional consistency rules and preloaded to each robot.Then,through a flexible collaborative architecture,dynamically adjust the number and function of online and offline robots,and a search heat map is defined to plan the optimal path for robots with different functions.Flexible collaboration ensures that robots fully utilize their search,execution,and communication abilities.On the other hand,the token is defined to represent the execution right of regional tasks,and the single-task allocation problem is transformed into the regional allocation problem.With the use of the centralized token ring and distributed token ring,tasks within each region are uniquely assigned and executed.Three communication methods ensure the exchange of information between robot swarms.The simulation results verify that this method can ensure the unique allocation of tasks,and can obtain a good total value of task execution in different task conflict scenarios.