Research on distributed task allocation algorithm for unmanned aerial vehicles based on consensus theory
Liang Jin · 2016
Research on distributed task allocation in multi-unmanned aerial vehicles with multi-tasks. The task is divided into three types: detection, attack and verification tasks. Expertise vector and entropy in information theory are used to display the commanality and distances of ability on unmanned aerial vehicles and tasks. The relationships between the tasks are also considered. The model of the task allocation for UAVs is established. And the distributed auction algorithm using communication topology is developed to solve the task allocation problem optimally based on the consensus theory. Simulation results show the rationality of the model and the effectiveness of the proposed method.