Wang G, Lv X, Yan X. A Two-Stage Distributed Task Assignment Algorithm Based on Contract Net Protocol for Multi-UAV Cooperative Reconnaissance Task Reassignment in Dynamic Environments.
SENSORS (BASEL, SWITZERLAND) 2023;
23:7980. [PMID:
37766035 PMCID:
PMC10537739 DOI:
10.3390/s23187980]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/15/2023] [Revised: 09/01/2023] [Accepted: 09/13/2023] [Indexed: 09/29/2023]
Abstract
Multi-UAV systems have been widely used in reconnaissance, disaster relief, communication, and other fields. However, many dynamic events can cause a partial failure of the original mission during the mission execution process, in which case task reassignment should be carried out. How to reassign resources and tasks in multi-dynamic, multi-target, and multi-constraint events becomes a core issue in the enhancement of combat efficiency. This paper establishes a model of multi-UAV cooperative reconnaissance task reassignment that comprehensively considers various dynamic factors such as UAV performance differences, size of target areas, and time window constraints. Then, a two-stage distributed task assignment algorithm (TS-DTA) is presented to achieve multi-task reassignment in dynamic environments. Finally, this paper verifies the effectiveness of the TS-DTA algorithm through simulation experiments and analyzes its performance through comparative experiments. The experimental results show that the TS-DTA algorithm can efficiently solve the task reassignment problem in dynamic environments while effectively reducing the communication burden of UAV formations.
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