Research on cooperative task assignment scheme of heterogeneous UAVs

Aiming at the problem of cooperative task assignment of heterogeneous UAVs, a given group of UAVs with different reconnaissance payload capabilities is studied to perform reconnaissance, strike and evaluation tasks for multiple tasks in the mission scenario. Based on the CBBA algorithm, a new bidding function is designed, the consensus algorithm is improved, the completion time window and the time required for each task are set, and an improved CBBA algorithm is proposed. The simulation results show that the improved CBBA algorithm can solve the problem of UAV task assignment with time window in static environment.