Open AccessDeadlock-free and path coordination algorithm for Cooperative Multi-task Allocation Problem with Target Priority Constraints
Author(s) -
Yiyang Zhao,
Deyun Zhou,
Xiaoyang Li,
Zhen Yang,
Kai Zhang,
L. Zeng
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1972/1/012065
Subject(s) - deadlock , computer science , task (project management) , path (computing) , graph , mathematical optimization , deadlock prevention algorithms , representation (politics) , distributed computing , priority inversion , theoretical computer science , dynamic priority scheduling , mathematics , engineering , computer network , systems engineering , politics , law , political science , quality of service , round robin scheduling
In this paper, we propose a cooperative multi-task allocation problem with target priority constraints (CMTAPTPC) for unmanned aerial vehicles (UAVs). For solving the deadlock problem, a deadlock detection and elimination method, including target priority constraints, is introduced in the graph representation framework. Furthermore, an innovative waitable path coordination (WPC) algorithm is proposed to coordinate the flight path that violates time constraints. It adopted some strategies to reduce the complexity of coordination and save the energy of the UAVs. In the simulation part, a representative complex scenario is designed to illustrate the rationality and effectiveness of the CMTAPTPC model and WPC algorithm.