A Method of Multi-UAV Collaborative Task Assignment Based on Multiplexing

Abstract

When multiple UAVs carry out multiple data ferry tasks with inconsistent deadlines at the same time, aiming at the problem of large volume of tasks and limited number of UAVs, the "One Wave" collaborative task allocation mode leads to low task completion rate and low utilization rate of UAVs, a "Multi-wave" task allocation method based on task urgency is proposed. In this task allocation mode, the UAV group performs specific tasks according to the task set divided by each wave, A UAV belongs to one or more task sets. Each wave adopts the scheduling strategy of FCFS (First Come First Service) to reuse UAVs. UAV groups cooperate in the same wave, while independent of each other between different waves. By determining the UAV scheduling strategy and iterating different wave intervals, in order to improve the task completion result, an improved genetic algorithm based on UAV multiplexing is used to solve the problem. The simulation results show that compared with the traditional "One-Wave" task allocation method, the proposed "Multi-Wave" task allocation method RTDA (Reused Task Distribution Algorithm) improves the completion of tasks by 112% and the average utilization of UAVs by 31.32% under the optimal wave interval.