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Method of multi-UAV hierarchical task allocation

TAN Heshun;CAO Lei;PENG Hui;PAN Mingcong;College of Command Information System,PLA Univ.of Sci.& Tech.;  
Multi-UAV(unmanned aerial vehicle)task assignment is a key issue in the field of unmanned combat command and control.To improve the efficiency and rationality of algorithm for large-scale task assignment,agrouping method was first presented based on combination of task constraints and ISODATA(iterative self-organizing data analysis technique)algorithm.On the basis of the task grouping,a coarse-grained task assignment method was proposed based on UAV group resource welfare from the perspective of load balance.Combined with PSO(particle swarm optimization)a fine-grained task assignment algorithm was given.The simulation proves better effective performance and more flexibility than the ordinary task allocation algorithm.
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