Complex Task Assignment of Heterogeneous UAVs under Timing Constraints
Yaozhong Zhang, Jia-lin Xu, Zhuoran Wu, Yunhong Ma · 2020
This paper improves the Consensus-Based Bundle Algorithms (CBBA), and solves the problem of heterogeneous Unmanned Aerial Vehicle (UAV) complex task allocation under timing constraints. In order to solve the task assignment problems with constraints such as the heterogeneity and resource constraints of the UAV, the diversity of tasks, and timing constraints, a dynamic task generation mechanism is proposed based on the CBBA. According to the constraints, the complex task is decomposed into multiple simple tasks for assignment, and the problem is converted into a single UAV task assignment problem for resolution. The simulation results show that based on satisfying the constraints, the improved CBBA algorithm can achieve the balance between maximizing the total objective function and minimizing the calculation time, and find the optimal solution for task allocation.