Resilience-Aware Cooperative Mission Planning Algorithm for Multi-UAV Systems in Complex Dynamic Environments
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摘要: 针对复杂动态环境下多无人机协同任务规划中任务动态到达、平台故障、禁飞约束与链路质量波动并存所导致的任务分配与航路规划强耦合问题，本文构建动态韧性任务与航路耦合规划模型，将任务价值、航路代价、能耗、干扰惩罚、时间窗、能力约束、冲突消解和链路质量纳入统一优化框架，并以补偿负载与韧性指标刻画中断风险对系统效能的影响。在此基础上提出韧性感知混合群智能优化算法(Resilience-Aware Hybrid Swarm Optimization, RAHSO)：以聚类与遗传初始化生成高质量初始解，用粪甲虫优化器(dung beetle optimizer, DBO)与粒子群优化(particle swarm optimization, PSO)混合搜索结合遗传算法(genetic algorithm, GA)与变邻域搜索(variable neighborhood search, VNS)实现全局探索与局部精修，引入死锁检测与修复保障分配结果的无环一致性，并设计基于近端策略优化(Proximal Policy Optimization, PPO)的事件驱动在线重规划模块以应对紧急任务插入与无人机故障。在仿真平台上构建静态、规模扩展、动态事件和中断四类场景开展对比与消融实验，结果表明RAHSO在任务完成率、累计任务价值、平均能耗、恢复时间和韧性指数等指标上具备稳定优势，并在保证在线重规划实时性的前提下兼顾任务效率与系统韧性。Abstract:
Objective This paper addresses the strongly coupled problem of task allocation and route planning in cooperative mission planning for multiple UAV systems under complex dynamic environments, where dynamic task arrivals, UAV failures, no fly zone constraints, and link quality degradation coexist. Methods A resilience aware hybrid swarm optimization algorithm, termed RAHSO, is proposed. The method first builds an integrated task and route planning model that incorporates task value, route cost, energy consumption, interference penalty, time window constraints, capability constraints, conflict resolution, and link quality. It then combines clustering and genetic initialization, DBO and PSO hybrid search, GA and VNS local refinement, and Tarjan based deadlock detection and repair to obtain high quality baseline solutions. Furthermore, an event driven PPO online replanning module is introduced to rapidly adjust affected task subsets when emergent tasks, UAV failures, or topology changes occur. Results and Discussions Comparative and ablation experiments are conducted under static, scale-expansion, dynamic-event, and interruption scenarios. The results demonstrate that the proposed method achieves consistent advantages in task completion rate, total utility, average energy consumption, recovery time, and resilience index over representative baselines while maintaining acceptable replanning latency. Conclusions The proposed method provides an effective solution for resilient cooperative mission and route planning of multiple UAV systems in complex dynamic environments. -
表 1 实验软硬件环境配置
项目 配置 CPU Intel Core i7 - 12700K @ 3.60GHz(12核) GPU NVIDIA GeForce RTX 3080 10GB GDDR6X内存 32 GB DDR4 3200 MHz操作系统 Ubuntu 20.04 LTS64位 仿真平台 AirSim 1.8.0+Unreal Engine场景 深度学习框架 PyTorch 2.2(CUDA 12.1) 优化器 Adam，初始学习率$ 1×10^{-4} $ 编程语言 Python 3.10 
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表 2 对比算法概览与关键参数
算法 原始文献 方法类别 信息结构 关键参数设置 韧性感知混合群智能优化算法(Resilience-Aware Hybrid Swarm Optimization, RAHSO) 本文 混合启发式+PPO 集中训练，
分布执行粒子数100，最大迭代200；DBO权重线性衰减；PSO惯性权重线性衰减，认知/社会因子1.5；PPO折扣0.99，剪裁0.2，学习率$ 1\times {10}^{-4} $，
批量256自适应精英二进制粒子群算法(Adaptive Elite Binary Particle Swarm Optimization,
AE-BPSO)[22] 群智能优化 集中式 粒子数80，最大迭代200，惯性权重0.9→0.5，自适应精英策略用于局部搜索增强 动态联盟任务分配算法(Dynamic Coalition Task Allocation, DCTA) [23] 分布式协同分配 局部通信 最大协商轮数20，领导节点动态选举，
邻居更新步长0.5，通信半径150 m时序图任务卸载算法(Temporal Graph Task Offloading, TGTO) [24] 中心式图优化 中心式 时序窗口30步，预测视窗50 s，中心优化器步长0.01，最大迭代300 加权遗传算法(Weighted Genetic Algorithm, WGA) [25] 遗传优化 集中式 种群规模100，代数200，交叉概率0.8，变异概率0.1，收益/能耗/延迟按0.5/0.3/0.2加权 分布式回报聚合任务分配算法(Iterative Reward Aggregation Distributed Assignment, IRADA) [26] 分布式优化 局部通信 通信半径150 m，回报折扣0.95，
任务刷新周期10 s，邻域更新次数5改进近端策略优化算法(Improved Proximal Policy Optimization, Improved PPO) [27] 深度强化学习 集中训练 Actor-Critic三层多层感知机(Multilayer Perceptron, MLP)(64-64-64)，折扣0.99，剪裁0.2，学习率 $ 1\times {10}^{-4} $，每轮更新10次 广义一致性捆绑拍卖算法(Generalized Consensus-Based Bundle Algorithm, G-CBBA) [28] 拍卖与捆绑分配 分布式 最大拍卖轮数15，捆绑长度上限10，
收益折扣0.9，冲突解算采用贪心回退
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表 3 评价指标定义与含义
指标 数学定义 含义说明 任务完成率(%) $ \eta =\left(\dfrac{{\mathrm{N}}_{\text{comp}}}{\mathrm{M}}\right)\times 100\% $ 成功完成任务数占总任务数的比例 累计任务价值 $ \mathrm{U}=\displaystyle\sum\limits_{\mathrm{j}\in {\mathcal{T}}_{\text{comp}}}{\mathrm{r}}_{\mathrm{j}} $ 已完成任务价值的累计值，
用于刻画任务价值获取能力平均能耗(Wh) $ \overline{\text{E}}=\dfrac{1}{\text{N}}\displaystyle\sum\limits_{\text{i=1}}^{\text{N}}{\text{E}}_{\text{i}} $ 单架无人机平均能量消耗 平均任务延迟(s) $ \overline{\mathrm{D}}=\dfrac{1}{{\mathrm{N}}_{\text{comp}}}\displaystyle\sum\limits_{\mathrm{j}\in {\mathcal{T}}_{\text{comp}}}\left(\mathrm{t}_{\mathrm{j}}^{\text{finish}}-\mathrm{t}_{\mathrm{j}}^{\text{release}}\right) $ 任务从发布到完成的平均时长 韧性指数 $ \mathrm{R}=\dfrac{{\mathrm{U}}_{\text{disturbed}}}{{\mathrm{U}}_{\text{baseline}}} $ 扰动场景下相对于基线场景的性能保持程度 平均求解时间(ms) $ {\overline{\mathrm{T}}}_{\mathrm{r}}=\dfrac{1}{{\mathrm{N}}_{\mathrm{r}}}\displaystyle\sum\limits_{\mathrm{k}=1}^{{\mathrm{N}}_{\mathrm{r}}}{\mathrm{T}}_{\mathrm{r},\mathrm{k}} $ 单次规划过程的平均运行时间，主要用于静态任务
和规模扩展实验。平均恢复时间(s) $ [{\overline{T}}_{rec}=\dfrac{1}{{N}_{evt}}\displaystyle\sum\limits_{e=1}^{{N}_{evt}}\left(t_{e}^{stable}-t_{e}^{event}\right)] $ 动态事件发生后系统恢复到稳定执行状态
所需的平均时间。
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表 4 静态任务场景下各算法性能对比
算法 任务
完成率(%)累计任务
价值平均能耗
(Wh)平均任务
延迟(s)RAHSO 98.5 1285 74.3 38.6 AE-BPSO 91.9 1181 79.7 46.5 DCTA 90.4 1137 82.6 49.2 TGTO 88.7 1113 84.0 51.4 WGA 92.6 1197 77.5 45.0 IRADA 94.3 1212 76.0 43.2 Improved PPO 96.1 1251 75.4 40.1 G-CBBA 93.5 1203 78.3 45.4
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表 5 不同任务规模下任务完成率对比
任务数M 任务完成率(%) RAHSO AE-BPSO IRADA ImprovedPPO G-CBBA 40 99.3 95.6 96.2 97.8 96.1 80 98.8 93.9 95.3 96.9 94.9 120 98.1 92.0 94.5 95.6 93.1 160 97.1 89.5 92.4 94.3 91.0
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表 6 动态事件下累计任务价值与恢复性能对比
算法 静态累计任务
价值动态累计任务
价值任务价值下降
(%)静态任务完成率
(%)动态任务完成率
(%)任务完成率下降
(百分点)平均恢复时间
(s)RAHSO 1285 1229 4.4 98.5 95.8 2.7 35 IRADA 1212 1125 7.2 94.3 90.1 4.2 52 Improved PPO 1251 1166 6.8 96.1 92.4 3.7 47 G-CBBA 1203 1106 8.1 93.5 89.3 4.2 61
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表 7 不同中断概率下韧性指数与归一化任务价值对比
中断概率p RAHSO韧性指数 RAHSO归一化收益 AE-BPSO韧性指数 AE-BPSO归一化收益 IRADA韧性指数 IRADA归一化收益 0.0 1.00 1.00 1.00 1.00 1.00 1.00 0.2 0.96 0.95 0.92 0.91 0.95 0.94 0.4 0.91 0.89 0.84 0.82 0.88 0.87 0.6 0.86 0.83 0.75 0.73 0.81 0.79
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表 8 不同模块配置下RAHSO的静态性能比较
算法变体 任务完成率(%) 累计任务价值 平均能耗(Wh) 平均任务延迟(s) 完整RAHSO 98.5 1285 74.3 38.6 变体A(去除PPO) 96.4 1237 76.0 41.0 变体B(去除DBO) 95.3 1209 78.7 44.6 变体C(去除GA+VNS) 95.9 1221 76.1 40.4
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表 9 动态事件场景下不同模块配置的恢复性能比较
算法变体 动态累计任务价值 任务价值下降(%) 动态任务完成率(%) 任务完成率下降(%) 平均恢复时间(s) 完整RAHSO 1229 4.4 95.8 2.7 35 变体A(去除PPO) 1109 10.3 90.2 6.2 58 变体B(去除DBO) 1118 7.5 92.1 3.2 43 变体C(去除GA+VNS) 1144 6.3 92.8 3.1 40
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A1 DCTA、TGTO与WGA在任务规模扩展实验下的完整结果
任务数M 算法 任务完成率(%) 平均求解时间(ms) 40 DCTA 93.8 178 40 TGTO 91.5 241 40 WGA 95.4 162 80 DCTA 90.7 286 80 TGTO 88.2 472 80 WGA 93.5 253 120 DCTA — — 120 TGTO 82.1 918 120 WGA 90.4 371 160 DCTA — — 160 TGTO — — 160 WGA 86.9 528
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A2 AE BPSO、DCTA、TGTO与WGA在动态事件场景下的恢复性能
算法 静态
累计
任务
价值动态
累计
任务
价值任务价
值下降
(%)静态任务
完成率
(%)动态任务
完成率
(%)任务完成
率下降
(%)平均
恢复
时间(s)AE-BPSO 1181 1053 10.8 91.9 85.4 6.5 78 DCTA 1137 1008 11.3 90.4 83.7 6.7 84 TGTO 1113 972 12.7 88.7 81.1 7.6 95 WGA 1197 1079 9.9 92.6 86.9 5.7 72
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A3 A3 DCTA、TGTO、WGA、Improved PPO与G CBBA在不同中断概率下的韧性指数与归一化任务价值
中断概率 p 算法 韧性指数 归一化任务价值 0 DCTA 1 1 TGTO 1 1 WGA 1 1 Improved PPO 1 1 G-CBBA 1 1 0.2 DCTA 0.9 0.89 TGTO 0.88 0.86 WGA 0.91 0.9 Improved PPO 0.94 0.93 G-CBBA 0.92 0.91 0.4 DCTA 0.8 0.78 TGTO 0.76 0.74 WGA 0.83 0.81 Improved PPO 0.87 0.85 G-CBBA 0.84 0.82 0.6 DCTA 0.71 0.68 TGTO 0.66 0.63 WGA 0.74 0.71 Improved PPO 0.8 0.77 G-CBBA 0.76 0.73
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