Uzak Mesafe Haberleşmesine Sahip İHA Sürüleri için Açgözlü Açık Artırma Temelli Dağıtılmış Görev Tahsis Algoritmasının Geliştirilmesi

Yıl 2025, Cilt: 2 Sayı: 1, 37 - 44, 28.03.2025

Erdem Can , Mustafa Namdar , Arif Başgümüş

Öz

Bu çalışmada uzak mesafe (long range, LoRa) iletişimine sahip sürü insansız hava araçlarında (İHA) açgözlü açık artırma temelli dağıtık görev tahsis algoritması (greedy auction-based distributed task allocation algorithm, GCAA) önerilmiştir. Ajanlar arası haberleşmesinin sağlanabilmesi için LoRa teknolojisi kullanılarak havadan havaya (air-to-air, A2A), dar bant nesnelerin interneti (narrowband Internet of Things, NB-IoT) teknolojisi kullanılarak da havadan yere (air-to-ground, A2G) haberleşme kanalları oluşturulmuş ve müzakere aşaması bu haberleşme kanallarından sağlanmıştır. LoRa ve NB-IoT parametreleri kullanılarak hat bütçe analizi ile A2A referans mesafesi ve k-ortalamalı kümeleme algoritması geliştirilmiştir. Geliştirilen algoritma ile küme merkezlerine baz istasyonları yerleştirerek, simülasyon ortamı hazırlanmıştır. Önerilen merkezi olmayan algoritma ile haberleşmenin kesintisiz ve kesintili olduğu ortamda açgözlü optimizasyon algoritması ile karşılaştırılarak, MATLAB ortamında benzetim sonuçları aktarılmıştır. Geliştirilen dağıtık görev tahsis algoritması, geleneksel açgözlü optimizasyon algoritmasına göre sistem maliyetinin ve görev bitirme süresinin daha kısa olduğu gözlenmiştir. Aynı zamanda performans parametrelerinin, birikimsel dağılım fonksiyonlarında daha kararlı olduğu gözlenmiştir.

Anahtar Kelimeler

Açgözlü açık artırma temelli dağıtık görev tahsis algoritması, A2A/A2G haberleşme, LoRa, NB-IoT

Development of a Greedy Auction-Based Distributed Task Allocation Algorithm for UAV Swarms with Long Range Communication

Öz

This study proposes a greedy auction-based distributed task allocation algorithm (GCAA) for swarm unmanned aerial vehicles (UAVs) with long range (LoRa) communication capabilities. Air-to-air (A2A) communication channels are established using LoRa technology to enable inter-agent communication, while air-to-ground (A2G) communication is facilitated through narrowband Internet of Things (NB-IoT) technology. The negotiation phase is conducted over these communication channels. Using LoRa and NB-IoT parameters, a link budget analysis is performed to determine the A2A reference distance, and a k-means clustering algorithm is developed. The proposed algorithm places base stations at cluster centers and prepares a simulation environment. The decentralized algorithm is compared with a greedy optimization algorithm under uninterrupted and interrupted communication scenarios, and the simulation results are presented in MATLAB. The developed distributed task allocation algorithm demonstrates lower system costs and shorter task completion times compared to the conventional greedy optimization algorithm. Additionally, the performance parameters exhibit more excellent stability in cumulative distribution functions.

Anahtar Kelimeler

Greedy auction-based distributed task allocation algorithm, A2A/A2G communication, LoRa, NB-IoT

Kaynakça

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