自然科学版 英文版
自然科学版 英文版
自然科学版 英文版

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中南大学学报(英文版)

Journal of Central South University

Vol. 27    No. 9    September 2020

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Multi-UAV surveillance implementation under hierarchical dynamic task scheduling architecture
WU Wen-di(伍文迪)1, WU Yun-long(武云龙)2, 3, LI Jing-hua(李晶华)3, REN Xiao-guang(任小广)2, 3, SHI Dian-xi(史殿习)2, 3, TANG Yu-hua(唐玉华)1

1. State Key Laboratory of High Performance Computing (HPCL), College of Computer,National University of Defense Technology, Changsha 410073, China;
2. Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense
Technology (NIIDT), Beijing 100071, China;
3. Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin 300457, China

Abstract:In this paper, we consider a multi-UAV surveillance scenario where a team of unmanned aerial vehicles (UAVs) synchronously covers an area for monitoring the ground conditions. In this scenario, we adopt the leader-follower control mode and propose a modified Lyapunov guidance vector field (LGVF) approach for improving the precision of surveillance trajectory tracking. Then, in order to adopt to poor communication conditions, we propose a prediction-based synchronization method for keeping the formation consistently. Moreover, in order to adapt the multi-UAV system to dynamic and uncertain environment, this paper proposes a hierarchical dynamic task scheduling architecture. In this architecture, we firstly classify all the algorithms that perform tasks according to their functions, and then modularize the algorithms based on plugin technology. Afterwards, integrating the behavior model and plugin technique, this paper designs a three-layer control flow, which can efficiently achieve dynamic task scheduling. In order to verify the effectiveness of our architecture, we consider a multi-UAV traffic monitoring scenario and design several cases to demonstrate the online adjustment from three levels, respectively.

 

Key words: prediction-based synchronization; dynamic task scheduling; hierarchical software architecture

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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