Research on Collaborative Task Allocation Method of Multiple UAVs Based on Blockchain

doi:10.16182/j.issn1004731x.joss.21-1348

Abstract

Abstract:

The autonomous collaborative control of a multi-unmanned aerial vehicle (UAV) system lacks a unified underlying technology platform and faces single point failure and information security threats. In order to solve these problems, an idea to build collaborative task planning platforms based on blockchain technology is proposed. With thecollaborative task allocation of multiple UAVs as research objects, an online, safe, high-efficiency, and real-time task allocation method is designed. The contract network task allocation algorithm is described as a smart contract, and system consensus is reached based on the blockchain consensus algorithm. In addition, a simulation experiment system is built by using Hyperledger Fabric open source software, and simulation verification is carried out for a typical marine conventional submarine search and arrest application scenario. Experimental results confirm the feasibility and superiority of the proposed method.

Key words: multi-UAV system, collaborative task allocation, blockchain, smart contract, contract network

CLC Number:

TP271

Shuangcheng Niu, Yuqiang Jin, Kunhu Kou. Research on Collaborative Task Allocation Method of Multiple UAVs Based on Blockchain[J]. Journal of System Simulation, 2023, 35(5): 949-956.

Figures/Tables 12

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Table 1

Table 2

Fig. 6

Fig. 7

Fig. 8

Table 3

Table 4

References 16

1	沈林成, 牛轶峰, 朱华勇. 多无人机自主协同控制理论与方法[M]. 2版. 北京: 国防工业出版社, 2018.
	Shen Lincheng, Niu Yifeng, Zhu Huayong. Theory and Method of Autonomous Collaborative Control of Multiple UAVs[M]. 2nd Edition. Beijing: National Defense Industry Press, 2018.
2	Skorobogatov Georgy, Barrado Cristina, Salamí Esther. Multiple UAV Systems: A Survey[J]. Unmanned Systems (S2301-3850). 2020, 8(2): 149-169.
3	Beard R W. Multiple UAV Cooperative Search under Collision Avoidance and Limited Range Communication Constraints[C]// IEEE Conference on Decision & Control. Maui, Hawaii, USA: IEEE, 2003.
4	Kang W, Sparks A. Task Assignment in the Cooperative Control of Multiple UAV's[C]// AIAA Guidance, Navigation, & Control Conference & Exhibit. Austin, Texas, USA: AIAA, 2013.
5	Zhou R, Feng Y, Di B, et al. Multi-UAV Cooperative Target Tracking with Bounded Noise for Connectivity Preservation[J]. Frontiers of Information Technology & Electronic Engineering (S2095-9184), 2020, 21(10): 1494-1503.
6	DARPA Reveals Details of CODE Program-UAS VISION[EB/OL]. (2019-03-25) [2021-10-05]. .
7	汪汝根, 李为民, 刘永兰, 等. 无人机集群组网任务分配方法研究[J]. 系统仿真学报, 2018, 30(12): 4794-4801.
	Wang Rugen, Li Weimin, Liu Yonglan, et al. Research on Task Allocation Method of UAV Cluster Networking[J]. Journal of System Simulation, 2018, 30(12): 4794-4801.
8	牛轶峰, 沈林成, 李杰, 等. 无人-有人机协同控制关键问题[J]. 中国科学: 信息科学, 2019, 49(5): 36-52.
	Niu Yifeng, Shen Lincheng, Li Jie, et al. Key Problems of Unmanned-Manned-Machine Collaborative Control[J]. SCIENCE CHINA Information Sciences, 2019, 49(5): 36-52.
9	华为区块链技术开发团队. 区块链技术及应用[M]. 北京: 清华大学出版社, 2019.
	Huawei Blockchain Technology Development Team. Blockchain Technology and Applications[M]. Beijing: Tsinghua University Press, 2019.
10	姜荣凯. 无人机分布式任务规划技术研究[D]. 南京: 南京航空航天大学, 2008.
	Jiang Rongkai. Research on Distributed Mission Planning Technology of Unmanned Aerial Vehicle[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2008.
11	Zhang F. A Novel Hybrid Auction Algorithm for Multi-UAVs Dynamic Task Assignment[J]. IEEE Access (S2169-3536), 2019, 8: 86207-86222.
12	Azam M A, Mittelmann H D, Ragi S. UAV Formation Shape Control Via Decentralized Markov Decision Processes[J]. Algorithms (S1999-4893), 2021, 14(3): 91.
13	Zhao J, Sun J, Cai Z, et al. Distributed Coordinated Control Scheme of UAV Swarm Based on Heterogeneous Roles[J]. Chinese Journal of Aeronautics (S1000-9361), 2021(12): 81-97.
14	李浩, 范翔宇, 金宏斌, 等. 基于群体智能的无人机集群作战任务规划研究[M]. 北京: 国防工业出版社, 2019.
	Li Hao, Fan Xiangyu, Jin Hongbin, et al. Research on Combat Mission Planning of Unmanned Aerial Vehicle Swarms Based on Swarm Intelligence[M]. Beijing: National Defense Industry Press, 2019.
15	Hyperledger. A Blockchain Platform for the Enterprise [CP/OL]. (2021-09-03) [2021-10-25] .
16	曾金龙, 肖新华, 刘清. Docker开发实践[M]. 北京: 人民邮电出版社, 2015.
	Zeng Jinlong, Xiao Xinhua, Liu Qing. Docker Development Practice[M]. Beijing: Posts and Telecom Press, 2015.

函数名称	类型	描述
CreateAuction()	函数	创建拍卖
PublishAuction()	函数	发布标书
QueryAuction()	函数	查询拍卖
CloseAuction()	函数	关闭拍卖
EndAuction()	函数	结束拍卖
SubmitBid()	函数	提交标书
PublishAuctionHandler()	事件	发布标书
CloseAuctionHandler()	事件	结束拍卖

兵力	实体类型	数量	说明
红方	无人机	25	1~20：磁探仪探测，探测范围600 m；21~25：红外、可见光探测，红外探测范围5 km，可见光探测范围10 km
	反潜直升机	1	被动浮标探测
	被动浮标	15	被动声呐探测，探测范围5 km
蓝方	潜艇	1
中立方	油轮	1
中立方	渔船	1

[1]	Hong Zheng, Zerun Liu, Jianhua Huang, Shihui Qian. Verification of Transaction Ordering Dependence Vulnerability of Smart Contract Based on CPN [J]. Journal of System Simulation, 2022, 34(7): 1629-1638.
[2]	Duan Ting, Wang Weiping, Zhu Yifan, Wang Tao, Huang Meigen. Access Control Mechanism of UAV Cluster Based on Blockchain Smart Contract [J]. Journal of System Simulation, 2021, 33(11): 2656-2662.
[3]	Zhang Xiaohong, Sun Lanlan. Attribute Proxy Re-encryption for Ciphertext Storage Sharing Scheme on Blockchain [J]. Journal of System Simulation, 2020, 32(6): 1009-1020.