A heterogeneous multi-UAV task allocation method based on extended CBBA

Task allocation is one of the key issues of UAV mission execution, the Consensus Based Bundle Algorithm (CBBA) can solve the problem of single UAV multi-task allocation, whereas the traditional CBBA can only be assigned to one UAV for each target. We extend the CBBA to the case of multiple UAVs executing a single target, and expand the homogeneous UAVs to heterogeneous UAVs with different functions of reconnaissance and strike, proposing an improved CBBA with dual replication of the reconnaissance/strike UAVs and targets separately, in order to solve the task allocation problem of UAVs carrying heterogeneous airborne reconnaissance and strike equipments. Simulation results show that the proposed extended CBBA can well solve the heterogeneous multi-UAV coalition executing multi-task allocation problem.