Task Allocation for Heterogeneous UAV Swarms under Communication Constraints
Qiming Du, Lidong He · 2024
This paper investigates the task assignment problem in the collaborative reconnaissance and strike processes of UAV swarms. Addressing challenges such as limited communication distance and heavy communication load, a consensus-based contract net allocation algorithm is proposed. Firstly, a distributed task allocation model for UAV swarms is established, and a manager UAV selection method based on set covering theory is proposed to achieve information consistency in the local communication network. Secondly, by introducing the consensus algorithm, the problems of repeated UAV invocation and task assignment in multi-manager allocation schemes are solved, achieving conflict resolution among UAVs. Simulation results show that this algorithm can solve the task allocation problem of UAV swarms under communication constraints, outperforming classic contract net algorithm and auction algorithm with fewer communication times.