Research on Task Reassignment Method of Heterogeneous UAV in Dynamic Environment

When the traditional CBBA algorithm solves the task allocation problem, it has a large amount of calculation and does not have the ability of dynamic task allocation. In order to solve the above problems, this paper improves the traditional CBBA algorithm from three aspects: introducing the concept of time window, proposing a target redistribution model, and improving the target function. Combined with the task reassignment problem of multiple UAVs in dynamic scenarios, the simulation verification of task reassignment is carried out in this paper. The simulation results show that the CBBA algorithm proposed in this paper can solve the problem of UAV task reassignment in a dynamic environment.