Cooperative Task Allocation of Multiple VA Vs Based on Greedy Algorithm

Multiple VAVs can perform certain large-scale tasks by constructing VA V clusters in practical applications since its excellent performance such as strong operability and composability. However, it is difficult to determine the specific execution of each drone before performing the cluster task in a cluster composed of multiple drones. This paper studies the task assignment problem under the constraint of multi-VA V cooperative flight, and proposes a task planning algorithm based on the shortest flight path or time optimal under the condition of ensuring the cooperative flight between VAVs. The algorithm combines the directed graph in graph theory to represent the cooperative flight constraint relationship between tasks, and adopts the breadth-first search strategy to realize the traversal assignment of tasks. During the assignment process, according to the greedy algorithm, the tasks are locally optimally allocated to obtain the approximate optimal solution. Finally, a simulation experiment is performed on the constructed task scene to verify the effectiveness of the algorithm.