A Dynamic Task Scheduling Method for Multiple UAVs Based on Contract Net Protocol

Sensors

Huan Liu¹  Guohua Wu¹  Zhenshi Zhang² 

[1] School of Traffic and Transportation Engineering, Central South University, Changsha 410075, China;Undergraduate School, National University of Defense Technology, Changsha 410073, China;

关键词: multi-UAV;    dynamic scheduling;    contract net protocol;    multi-objective optimization;   

DOI  :  10.3390/s22124486

来源: DOAJ

【 摘 要 】

Unmanned aerial vehicles are becoming promising platforms for disaster relief, such as providing emergency communication services in wireless sensor networks, delivering some living supplies, and mapping for disaster recovery. Dynamic task scheduling plays a very critical role in coping with emergent tasks. To solve the multi-UAV dynamic task scheduling, this paper constructs a multi-constraint mathematical model for multi-UAV dynamic task scheduling, involving task demands and platform capabilities. Three objectives are considered, which are to maximize the total profit of scheduled tasks, to minimize the time consumption, and to balance the number of scheduled tasks for multiple UAVs. The multi-objective problem is converted into single-objective optimization via the weighted sum method. Then, a novel dynamic task scheduling method based on a hybrid contract net protocol is proposed, including a buy-sell contract, swap contract, and replacement contract. Finally, extensive simulations are conducted under three scenarios with emergency tasks, pop-up obstacles, and platform failure to verify the superiority of the proposed method.

【 授权许可】

Unknown