Collaborative Task Assignment Scheme for Multi-UAV Based on Cluster Structure

This paper addresses the mechanism of task assignment for multi-UAV in uncertain environment and proposed a collaborative task assignment scheme based on cluster structure by comprehensively analyzing the advantage of centralized and distributed systems. The mechanism takes the cluster structure as its basic framework for running the task assignment algorithm, which is divided into three levels: task division inter-clusters, task allocation within cluster and auction-based task coordination inter-clusters. Distributed task cooperation inter-clusters and centralized task allocation inner-cluster can effectively reduce the target conflicts and expand the scope of conflict mediation. In addition, the auction scheme would be triggered inter-clusters if any targets left after completing task distribution inner-cluster, in order to balance task load and advance the process of war. The simulation results show that the proposed scheme has optimization capability, and better task load balancing compared with traditional allocation algorithms.