Improved contract network protocol algorithm based cooperative target allocation of heterogeneous UAV swarm

Abstract

For the target attack mission of Unmanned Aerial Vehicle (UAV) swarm, the heterogeneous and large-scale characters usually bring about the uneven allocation problem. In the present work, an improved contract network protocol (CNP) based cooperative target allocation scheme is proposed to deal with heterogeneous overloading and time sequences problem. Firstly, the cooperative target allocation model aimed at heterogeneous UAVs and targets is established, including the total flight distance, flight time, target survival rate and load rate. Secondly, situation-based advantage value is calculated as the winning criterion to assign the UAV. Furthermore, two improved CNP assignment algorithms, are respectively designed for the one-to-many and many-to-one modes. Finally, the simulation results exhibit the superiority on better cooperative and more even assignment of the improved CNP scheme, when comparing with the basic CNP scheme.