Multi-task cooperative assignment of two-stage heterogeneous multi-UAV based on improved CBBA

For multi-UAV cooperative task assignment with different execution time requirements, a multi-UAV cooperative multi-task assignment model is established by considering the constraints of time-series task assignment. Secondly, based on the time window constraint, the collaborative execution requirements of multiple UAVs in different time Windows are deeply analyzed, the consensus-based bundle algorithm (CBBA) is improved, a two-stage task allocation algorithm framework is established, and a multi-time window collaborative task assignment algorithm (Improved CBBA algorithm based on time window, ICBBA) is proposed to solve the cooperative task allocation problem of heterogeneous multiple UAVs in different mission execution time windows. Finally, simulation results show that ICBBA algorithm can effectively implement collaborative task assignment of heterogeneous multi-UAVs in different task execution time windows.