通信延迟约束下多无人机任务指派冲突消解

Under the background of multiple unmanned aerial vehicle (UAV) task assignment in complex battlefield environment, this paper proposes a method that solves the assignment conflict caused by communication delay in distributed architecture. By setting the comparison threshold and UAV priority, the possible conflict of assignment with minimal communication cost is predicted. Furtherly, by enabling the communication of formation and comparing the assignment schemes of each UAV, the optimal task that can be executed at present is determined, so as to achieve the purpose of conflict resolution. The proposed method is verified by the MultiUAV2 simulation platform. Simulation results show that the conflict resolution mechanism can predict and resolve assignment conflict accurately and efficiently, which proves its feasibility and rationality and also has good applicability to different combat environments because of adopting dynamic threshold setting.