Abstract
On the basis of investigating dynamic collaborative task allocation of heterogeneous multi-unmanned platform, a dynamic collaborative task allocation model was constructed to settle these problems in this paper. Moreover, the contract net algorithm was improved by means of mental coefficients, the blackboard model and the buffer pool mechanism; and a hybrid method of three modified contract net algorithms was applied to dynamic collaborative task allocation of heterogeneous multi-unmanned platform. As a result, not only is the task allocation efficiency raised, but outcomes of collaborative task allocation become more reasonable. As demonstrated by relevant laboratory findings, the corresponding performance is significantly boosted.
Highlights
As is well-known, unmanned platforms are characterized by fast responses, low costs, fewer casualties and the ability to complete demanding tasks in a harsh condition
By analyzing characteristics of collaborative task planning problems of the multi-unmanned platform, the contract net algorithm is improved based on the mental coefficient [7], [8], the blackboard model [9] and the buffer pool mechanism [10], proposing improvement strategies for different stages
Through data comparison based on the above experimental results, three improved contract net algorithm (CNA) and the Hy-CNA presented all play a positive role in improving the number of tasks completed and reducing the negotiation frequency
Summary
As is well-known, unmanned platforms are characterized by fast responses, low costs, fewer casualties and the ability to complete demanding tasks in a harsh condition. As the working environment becomes increasingly complicated, a single-unmanned platform can no longer satisfy more task demands due to certain limitations, such as insufficient individual abilities and simple execution approaches [1] In this context, an inevitable tendency of unmanned platform-based task allocation technique research is to investigate how heterogeneous unmanned platforms can be reasonably allocated in a dynamic condition to complete collaborative tasks rapidly and effectively [2]. Since the transport volume required by such a task exceeds the upper limit of load capacity of a single unmanned platform, it needs to be completed by a multi-unmanned platform jointly. B. MATHEMATICAL MODEL Research on dynamic collaborative task allocation of multiunmanned platforms is targeted at various scouting, transporting and striking tasks that need to be executed by unmanned platforms.
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