National University of Defense Technology,Colledge of Systems Engineering
Due to its low cost, strong situational awareness and ability to perform tasks cooperatively, etc, unmanned aerial vehicle (UAV) technology is developing rapidly, and the research on autonomous coordination of UAV swarm has been widely concerned and studied all over the world. This paper focuses on the problem of "distributed" cooperative operation oriented to heterogeneous UAV swarm, aiming at the defect that homogeneous UAVs have a single function and cannot perform complex tasks. Firstly, the "distributed" cooperative operation mode of heterogeneous UAV swarm is described. Then, a collaborative computing model based on heterogeneous UAV capability is designed.Then, based on the idea of stable matching and aiming at maximizing the global synergy, a linear optimization model of heterogeneous UAV swarm "distributed" synergy degree was proposed, and the evaluation methods for the synergetic effect of matching scheme was given. Finally, through three groups of experiments, the effectiveness of the model and method proposed in this paper is verified. Compared with the benchmark algorithm, it has higher operational efficiency and effect, and also has good matching effect in large-scale examples.