Real-time reconnaissance task assignment of multi-UAV based on improved contract network

Aiming at the problem of real-time assignment of multi-UAV reconnaissance tasks, a task allocation model based on reconnaissance benefits and reconnaissance costs is established, and an improved contract network algorithm solution is proposed. It reduces the system communication volume; on the other hand, it introduces a comprehensive load factor pricing mechanism to associate the reconnaissance efficiency of the UAV with the task load, which helps balance the system load. Simulations show that the improved contract network algorithm proposed in this paper can not only handle a variety of emergencies, but also reduce auction rounds and allocation time, improve the efficiency of realtime task allocation, and make the UAV system more efficient than traditional contract network algorithms The load is more balanced.