Cooperative task assignment method of manned/unmanned aerial vehicle formation

Task assignment method is an important part of task control process and plays a key role in formation cooperation C2. Based on contract net protocol(CNP) and multi-agent system(MAS) theory, MAS architecture and a bid based task assignment model of manned/unmanned aerial vehicle formation are built, and task priority is introduced into this model. The model can assign tasks in advance or in the process of mission running dynamically, which guarantees the overall assignment effectiveness relatively optimized in dynamic environment. Simulation results based on combat scenario indicate the task assignment method based on CNP and MAS behaves well in dynamic environment and can fulfill the requirements of formation combat.