Task Assignment of Heterogeneous UAV for Anti-radar Mission Using CTAP Models

In this paper, task assignment about the antiradar cooperative combat with heterogeneous unmanned aerial vehicle (UAV) formation is analyzed. First, the capacitated transshipment assignment problem (CTAP) model is adapted to represent the task assignment, and the fast and efficient largescale minimum cost algorithm combined with the tree search is proposed to solve the final task plan. Specifically, the variable definition and reasonable coordination constraints between UAVs and the tasks are presented in detail. Moreover, we design and realized a simulation system which is called heterogeneous UAV formation cooperative task assignment simulation platform, which can test and analyze the optimization and feasibility of the proposed algorithm.