Partial cooperation models are studied for many years to solve the bilevel programming problems where the follower’s optimal reaction is not unique. However, in these existed models, the follower’s cooperation level...Partial cooperation models are studied for many years to solve the bilevel programming problems where the follower’s optimal reaction is not unique. However, in these existed models, the follower’s cooperation level does not depend on the leader’s decision. A new model is proposed to solve this deficiency. It is proved the feasibility of the new model when the reaction set of the lower level is lower semicontinuous. And the numerical results show that the new model has optimal solutions when the reaction set of the lower level is discrete, lower semi-continuous and non-lower semi-continuous.展开更多
Partial cooperation formulation is a more viable option than optimistic＇s and pessimistic＇s to solve an ill-posed bilevel programming problem.Aboussoror＇s partial cooperation model uses a constant as a cooperation ...Partial cooperation formulation is a more viable option than optimistic＇s and pessimistic＇s to solve an ill-posed bilevel programming problem.Aboussoror＇s partial cooperation model uses a constant as a cooperation index to describe the degree of follower＇s cooperation.The constant only indicates the leader＇s expectation coefficient for the follower＇s action,not the follower＇s own willingness.To solve this situation,a new model is proposed by using the follower＇s satisfactory degree as the cooperation degree.Then,because this new cooperation degree is a function which is dependent on the leader＇s choice and decided by the follower＇s satisfactory degree,this paper proves such proposed model not only leads an optimal value between the optimistic value and pessimistic＇s,but also leads a more satisfactory solution than Aboussoror＇s.Finally,a numerical experiment is given to demonstrate the feasibility of this new model.展开更多
According to the previous achievement, the task assignment under the constraint of timing continuity for a cooperative air combat is studied. An extensive task assignment scenario with the background of the cooperativ...According to the previous achievement, the task assignment under the constraint of timing continuity for a cooperative air combat is studied. An extensive task assignment scenario with the background of the cooperative air combat is proposed. The utility and time of executing a task as well as the continuous combat ability are defined. The concept of the matching method of weapon and target is modified based on the analysis of the air combat scenario. The constraint framework is also redefined according to a new objective function. The constraints of timing and continuity are formulated with a new method, at the same time, the task assignment and integer programming models of the cooperative combat are established. Finally, the assignment problem is solved using the integrated linear programming software and the simulation shows that it is feasible to apply this modified model in the cooperative air combat for tasks cooperation and it is also efficient to optimize the resource assignment.展开更多
For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning...For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.展开更多
Complex multi-area collaborative coverage path planning in dynamic environments poses a significant challenge for multi-fixed-wing UAVs(multi-UAV).This study establishes a comprehensive framework that incorporates UAV...Complex multi-area collaborative coverage path planning in dynamic environments poses a significant challenge for multi-fixed-wing UAVs(multi-UAV).This study establishes a comprehensive framework that incorporates UAV capabilities,terrain,complex areas,and mission dynamics.A novel dynamic collaborative path planning algorithm is introduced,designed to ensure complete coverage of designated areas.This algorithm meticulously optimizes the operation,entry,and transition paths for each UAV,while also establishing evaluation metrics to refine coverage sequences for each area.Additionally,a three-dimensional path is computed utilizing an altitude descent method,effectively integrating twodimensional coverage paths with altitude constraints.The efficacy of the proposed approach is validated through digital simulations and mixed-reality semi-physical experiments across a variety of dynamic scenarios,including both single-area and multi-area coverage by multi-UAV.Results show that the coverage paths generated by this method significantly reduce both computation time and path length,providing a reliable solution for dynamic multi-UAV mission planning in semi-physical environments.展开更多
基金supported by the National Natural Science Foundationof China (70771080)the National Science Foundation of Hubei Province(20091107)Hubei Province Key Laboratory of Systems Science in Metallurgical Process (B201003)
文摘Partial cooperation models are studied for many years to solve the bilevel programming problems where the follower’s optimal reaction is not unique. However, in these existed models, the follower’s cooperation level does not depend on the leader’s decision. A new model is proposed to solve this deficiency. It is proved the feasibility of the new model when the reaction set of the lower level is lower semicontinuous. And the numerical results show that the new model has optimal solutions when the reaction set of the lower level is discrete, lower semi-continuous and non-lower semi-continuous.
基金supported by the National Natural Science Foundation of China(1140145071171150+4 种基金71471143)the Hubei Provincial Department of Education(B2015348D20141101)the Hubei Province Key Laboratory of Systems Science in Metallurgical Process(Y201518Z201401)
文摘Partial cooperation formulation is a more viable option than optimistic＇s and pessimistic＇s to solve an ill-posed bilevel programming problem.Aboussoror＇s partial cooperation model uses a constant as a cooperation index to describe the degree of follower＇s cooperation.The constant only indicates the leader＇s expectation coefficient for the follower＇s action,not the follower＇s own willingness.To solve this situation,a new model is proposed by using the follower＇s satisfactory degree as the cooperation degree.Then,because this new cooperation degree is a function which is dependent on the leader＇s choice and decided by the follower＇s satisfactory degree,this paper proves such proposed model not only leads an optimal value between the optimistic value and pessimistic＇s,but also leads a more satisfactory solution than Aboussoror＇s.Finally,a numerical experiment is given to demonstrate the feasibility of this new model.
基金supported by the National Natural Science Foundation of China（61472441）
文摘According to the previous achievement, the task assignment under the constraint of timing continuity for a cooperative air combat is studied. An extensive task assignment scenario with the background of the cooperative air combat is proposed. The utility and time of executing a task as well as the continuous combat ability are defined. The concept of the matching method of weapon and target is modified based on the analysis of the air combat scenario. The constraint framework is also redefined according to a new objective function. The constraints of timing and continuity are formulated with a new method, at the same time, the task assignment and integer programming models of the cooperative combat are established. Finally, the assignment problem is solved using the integrated linear programming software and the simulation shows that it is feasible to apply this modified model in the cooperative air combat for tasks cooperation and it is also efficient to optimize the resource assignment.
基金supported by the National Natural Science Foundation of China(5110917951179156+2 种基金5137917661473233)the Natural Science Basic Research Plan in Shaanxi Province of China(2014JQ8330)
文摘For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.
基金National Natural Science Foundation of China(Grant No.52472417)to provide fund for conducting experiments.
文摘Complex multi-area collaborative coverage path planning in dynamic environments poses a significant challenge for multi-fixed-wing UAVs(multi-UAV).This study establishes a comprehensive framework that incorporates UAV capabilities,terrain,complex areas,and mission dynamics.A novel dynamic collaborative path planning algorithm is introduced,designed to ensure complete coverage of designated areas.This algorithm meticulously optimizes the operation,entry,and transition paths for each UAV,while also establishing evaluation metrics to refine coverage sequences for each area.Additionally,a three-dimensional path is computed utilizing an altitude descent method,effectively integrating twodimensional coverage paths with altitude constraints.The efficacy of the proposed approach is validated through digital simulations and mixed-reality semi-physical experiments across a variety of dynamic scenarios,including both single-area and multi-area coverage by multi-UAV.Results show that the coverage paths generated by this method significantly reduce both computation time and path length,providing a reliable solution for dynamic multi-UAV mission planning in semi-physical environments.
