Research on dynamic task allocation method of heterogeneous multi-UAV based on consensus based bundle algorithm

When the multi-UAV system perform tasks in the risk and confrontation environment, the task situation will evolve with time and space, and the original plan will be disturbed in the dynamic environment, thus affecting the overall task execution efficiency. Dynamic planning is to adjust the configuration of multi-UAV system reasonably according to the situation change, so as to meet the following task coordination relationship. In this paper, a dynamic distributed task dynamic planning method is proposed to solve the problem of changing the number of tasks in dynamic environment. Dynamic planning is based on the consensus-based bundle algorithm (CBBA), considering the heterogeneous characteristics of UAVs and the time sequence coupling relationship of the tasks, and making fast local adjustment for the original plan. The dynamic planning method can dynamically adjust the number and value of reset tasks, so as to meet the needs of high time sensitive tasks, which is suitable f or large-scale UAVs control.