Purpose
The purpose of this paper is to develop a distributed task allocation method for cooperative mission planning of multiple heterogeneous unmanned aerial vehicles (UAVs) based on the consensus algorithm and the online cooperative strategy.
Design/methodology/approach
In this paper, the allocation process is conducted in a distributed framework. The cooperative task allocation problem is proposed with constraints and uncertainties in a real mission. The algorithm based on the consensus algorithm and the online cooperative strategy is proposed for this problem. The local chain communication mode is adopted to restrict the bandwidth of the communication link among the UAVs, and two simulation tests are given to test the optimality and rapidity of the proposed algorithm.
Findings
This method can handle both continuous and discrete uncertainties in the mission space, and the proposed algorithm can obtain a feasible solution in allowable time.
Research limitations/implications
This study is only applied to the case that the total number of the UAVs is less than 15.
Practical implications
This study is expected to be practical for a real mission with uncertain targets.
Originality/value
The proposed algorithm can go beyond previous works that only deal with continuous uncertainties, and the Bayesian theorem is adopted for estimation of the target.
Allowing non-submodular score functions in distributed task allocation
