通信约束下异构多无人机任务分配方法

针对异构多无人机协同执行侦察和打击任务中，存在通信距离、时间延迟等约束条件下的局部任务分配问题，提出了一种基于合同网的分布式多无人机任务分配方法。首先建立了异构集群发现新目标时的局部任务分配问题模型，设计了局部无人机通信网络中的信息一致性算法，实现了任务分配过程中任务发布阶段各无人机的冲突消解。设计了任务分配过程中的联盟构建和无人机资源管理方法，使联盟中各无人机能够以更加平衡的方式消耗资源。仿真结果表明，该方法能够解决通信约束下，异构多无人机执行察打任务时，所触发的针对目标打击任务的任务分配问题，且能够获得最大的系统效能。

Communication-constrained task allocation of heterogeneous UAVs

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.