论文信息 - Collaborative task allocation of heterogeneous multi-UAV based on improved CBGA algorithm

Collaborative task allocation of heterogeneous multi-UAV based on improved CBGA algorithm

In the complex and dynamic cooperation mission of heterogeneous multi-UAVs, UAV must response quickly to the new situation. A task allocation algorithm based on improved CBGA (Consensus-Based Grouping Algorithm) is proposed in this paper to solve the task assignment for the collaborative heterogeneous UAV s. The task allocation model is constructed considering the time constraints of task and tasks' requirements for heterogeneous UAV s. This paper introduces a task bundle revision method to improve the computational efficiency of the CBGA algorithm. The effectiveness of the task allocation is verified through simulation examples. Simulation result also demonstrates the quality of the improved algorithm is improved strongly.

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