Research on Heterogeneous UAVs Task Assignment Based on Improved Contract Net Algorithm
Shaokun Yan · 2021
The traditional contract network algorithms has problems such as unbalanced load, low distribution efficiency, and lack of real-time dynamic planning ability when solving the task assignment of UAVs. In response to the above problems, this paper proposes a heterogeneous UAV cooperative task allocation model based on the improved contract network algorithm. Combined with the actual application scenarios of UAV task allocation, this paper carries out laboratory simulation verification. The simulation results show that, compared with the traditional contract network algorithm, the improved contract network algorithm proposed in this paper can effectively improve the efficiency of task allocation, improve the balance of task allocation, and has dynamic task planning capabilities, which proves the effectiveness of the algorithm.