基于联盟博弈与模拟退火的无人机集群任务分配研究

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关键词：联盟博弈；任务分配；无人机集群；模拟退火算法；任务优先级；硬约束；预分配；异构资源中图分类号：TN911-34；TP301.6 文献标识码：A 文章编号：1004-373X(2026)09-0009-06

UAV swarm task allocation based on coalition game and simulated annealing

BiYijun,WangXie,JiangTian (School of Software Engineering,Chengdu Universityof Information Technology,Chengdu ,China)

Abstract:Inviewof thehighcomputationalcomplexityof taskalocationinheterogeneous unmannedaerialvehicle(UAV) swarmsandthelackofhardtaskpriorityconstraints,thisstudyproposesacoalition-game-basedtwo-stagealocationalgorithm. Thehard priorityconstraintsareintroducedwhileestablishingamathematicalmodelof UAVcapabilitiesandtaskrequirements, andatwo-stagegreedypre-asignment+improvedsimulatedannealing (PC_ISA)algorithmisdesignedwiththeframeworkof coalitiongame.Stagelemploysalocalgreedydynamicalgorithmtoshrinktheinfeasibledomain,whileStage2apliesthe simulatedannealing(SA）algorithmwithadaptivetemperaturedecaytominimizethecoalitioncostfunction.Simulationsshow that,with12UAVsbeingalocatedforthreetasks,PCISAachievesthebestoverallperformance;afterintroducingweather disturbancefactors,itexhibitsthehigheststabilit；andwhenthenumbersofUAVsandtasksarefurtherincreased,itdelivers thegentlestcostgrowth.ByintegratingtheISAalgorithmwithcoalitiongameandembeddnghardtaskpriorityconstraints,the proposed method provides an ffective solution to the task allocation in heterogeneous UAV swarms.

Keywords：coalitiongame;taskalocation;UAVswarm；SAalgorithm;taskpriority；hardconstraint;pre-assignment; heterogeneous resource

0引言

近年来，UAV集群技术在军事侦察、物流运输、环境监测、灾害救援等领域得到了广泛应用[1-3]。（剩余14125字）