基于CMA-ES算法的無人機群協(xié)同救援任務(wù)分配優(yōu)化

打開文本圖片集

DOI：10.16652/j.issn.1004-373x.2025.10.015 引用格式：，，.基于CMA-ES算法的無人機群協(xié)同救援任務(wù)分配優(yōu)化[J].現(xiàn)代電子技術(shù)，2025，48（10）：92-96.

關(guān)鍵詞：CMA-ES；無人機；協(xié)同任務(wù)分配；優(yōu)化算法；目標函數(shù)；約束條件；最大航程中圖分類號：TN820.4-34；TP273 文獻標識碼：A 文章編號：1004-373X（2025）10-0092-05

Abstract：Thealocationof rescue tasksshouldnotonlyconsider theshortest navigation distanceof unmannedaerial vehicle（UAV），butalsominimizetheaveragewaitingtimeofsurvivors，whichisamulti-objectiveoptimizationproblem.Inoder tofindtheoptialsoutioninmulti-objectivesenarios，amethodofcolaborativerescuetaskallcationotimizationbasedon covariance matrixadaptationevolutionarystrategy（CMA-ES）algorithmforUAVswam isproposed.Taking theaverage waiting timeand theshortestsailing distanceasobjectivefunctions，andconsideringconstraintssuchasthemaximumsailingdistance， taskcounts，colaborativeplanningandloadcapacityofUAV，aCMA-ESalgorithmisusedtofindtheoptimalsolutionof the objectivefunctionbymeansoftheparameteroptimization mechanismbasedonnormaldistributioninmultidimensional space， efectivelyresolvingconflictsbetweendiferentobjectivesandachievingmulti-objectivetaskalocationoptimization.The experimentalresultsshowthattheproposedmethodcanalocaterescuetasksreasonably，andensurethatsurvivorscanquickly obtain supplies. The UAV navigates an average of 48.7 km，survivors wait an average of 33.4min ，and rescue tasks are completed in an average of 61.2min

Keywords：CMA-ES；UAV；colaborativetask allcation；optimizationalgorithm；objective function；constraintcondition; maximum flight distance

0 引言

在緊急救援任務(wù)中，無人機群展現(xiàn)出了巨大的潛力和價值。（剩余5193字）