Multiple UAVs hierarchical dynamic task allocation based on PSO-FSA and decentralized auction

Multi-UAVs dynamic task allocation is a hot issue currently in the field of unmanned combat command and control. The dynamic task allocation problem for unexpected new tasks appear in battle field is the focus of this study. In order to fulfill the requirements of time and communication complexity, firstly, this paper establishes a state information model of UAV and UAV groups based on the grouping of tasks and UAVs. Secondly, this paper propose a mixed dynamic task allocation method to decompose the problem into two low-level problems including group-level task allocation and member-level task allocation, which are solved by using improved PSO-FSA and distributed auction algorithm. Finally, the simulation experiments prove the effectiveness of the algorithm proposed in this paper and that it can reduce the size of dynamic task allocation, which leads to the reduction of time complexity and communication complexity.