The purpose of this paper is to develop a distributed task allocation method for cooperative mission planning of multiple heterogeneous unmanned aerial vehicles (UAVs) based on the consensus algorithm and the online cooperative strategy.

    Design/methodology/approach

    In this paper, the allocation process is conducted in a distributed framework. The cooperative task allocation problem is proposed with constraints and uncertainties in a real mission. The algorithm based on the consensus algorithm and the online cooperative strategy is proposed for this problem. The local chain communication mode is adopted to restrict the bandwidth of the communication link among the UAVs, and two simulation tests are given to test the optimality and rapidity of the proposed algorithm.

    Findings

    This method can handle both continuous and discrete uncertainties in the mission space, and the proposed algorithm can obtain a feasible solution in allowable time.

    Research limitations/implications

    This study is only applied to the case that the total number of the UAVs is less than 15.

    Practical implications

    This study is expected to be practical for a real mission with uncertain targets.

    Originality/value

    The proposed algorithm can go beyond previous works that only deal with continuous uncertainties, and the Bayesian theorem is adopted for estimation of the target.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Distributed task allocation for multiple heterogeneous UAVs based on consensus algorithm and online cooperative strategy


    Contributors:
    Wu, Weinan (author) / Cui, Naigang (author) / Shan, Wenzhao (author) / Wang, Xiaogang (author)

    Published in:

    Publication date :

    2018-10-17


    Size :

    10 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Task Allocation of Multiple UAVs for Cooperative Parcel Delivery

    Oh, Gyeongtaek / Kim, Youdan / Ahn, Jaemyung et al. | Springer Verlag | 2017


    Fault Tolerant Cooperative Control for Heterogeneous Multiple UAVs

    Yang, Huiliao / Jiang, Bin / Yang, Hao | IEEE | 2018



    Decentralized task allocation for multiple UAVs with task execution uncertainties *

    Liu, Ruifan / Seo, Minguk / Yan, Binbin et al. | IEEE | 2020


    Dynamic Task Allocation for Heterogeneous Multi-UAVs in Uncertain Environments Based on 4DI-GWO Algorithm

    Hanqiao Huang / Zijian Jiang / Tian Yan et al. | DOAJ | 2024

    Free access