UAV formation collaborative search and dynamic task allocation method under uncertain environment

Abstract

Over the past few years, multi-agent coordination and control solutions have been applied to many challenging civilian and defense applications: surveillance, search and rescue, and fire monitoring. The existing multi-UAV dynamic task allocation method needs long computation time and does not apply to hard real-time and uncertain environment conditions. A relatively simple coordination mechanism was designed in this paper in an attempt to solve the problem that exists in the multi-agent systems method. Only with three times of information exchanges, the UAVs can enter their own flight modes, and this avoids the frequent communication problems between the UAVs. What's more, the UAV guidance law was designed, and the task allocation strategy and vehicle's coupling and temporal correlation are combined in this paper in order to verify the feasibility of the dynamic task allocation strategies in a dynamic process. Digital simulation was performed in two scales of UAV formation in order to compare the new task allocation method with the existing methods.