通信约束下异构多无人机任务分配方法

doi:10.7527/S1000-6893.2021.25844

Abstract

Abstract: When the heterogeneous multi-UAVs are performing the missions of cooperative reconnaissance and attack, there exists the problem of local task allocation under the constraints of communication distance and time delay. In this paper, a distributed multi-UAV task allocation method is proposed based on the contract net protocol. First, an optimization model of the local task allocation when heterogeneous multi-UAVs discover a new target is established. An information consensus algorithm is designed for the local UAV communication network to solve the conflict in the task announcement process. Then, a coalition formation and resource management method are proposed, so that the UAVs in the coalition can consume the resources in a more balanced way. Simulation results show that the proposed method can effectively solve the problem of task allocation of heterogeneous multi-UAV reconnaissance and attack mission under communication constraints, and can obtain the maximum system utility.

Key words: multiple-UAV, heterogeneous UAV, task allocation, communication constraint, contract net

CLC Number:

V249

CHEN Pu, YAN Fei, LIU Zhao, CHENG Guoda. Communication-constrained task allocation of heterogeneous UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(8): 525844-525844.

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Communication-constrained task allocation of heterogeneous UAVs

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