UAV formation collaborative search and dynamic task allocation method under uncertain environment

Over the past few years, multi-agent coordination and control solutions have been applied to many challenging civilian and defense applications: surveillance, search and rescue, and fire monitoring. The existing multi-UAV dynamic task allocation method needs long computation time and does not apply to hard real-time and uncertain environment conditions. A relatively simple coordination mechanism was designed in this paper in an attempt to solve the problem that exists in the multi-agent systems method. Only with three times of information exchanges, the UAVs can enter their own flight modes, and this avoids the frequent communication problems between the UAVs. What´s more, the UAV guidance law was designed, and the task allocation strategy and vehicle´s coupling and temporal correlation are combined in this paper in order to verify the feasibility of the dynamic task allocation strategies in a dynamic process. Digital simulation was performed in two scales of UAV formation in order to compare the new task allocation method with the existing methods.