Cooperative multiple task assignment using cluster method and bidirectional particle swarm optimization

The cooperative multiple task assignment problem with heterogeneous UAVs demands different UAVS to executed multiple tasks on each target obeying peculiar order of task type. This is a typical NP-hard problem. However, the deadlock situation makes solving process in trouble without appropriate task execution order. In this paper, the precedent targets order is given by cluster method to avoiding the deadlock situation and the bidirectional particle swarm optimization (BPSO) is applied for assigning heterogeneous UAVs to accomplish each task of each target. Then simulation experiments are given to demonstrate the feasibility of BPSO. What’s more, the robust performance and optimality are better than random search algorithm by the result of Monte Carlo simulations.