Abstract
This paper purposes an algorithm to achieve task allocation of heterogeneous UAV swarm to multiple mission targets constrained by time windows. First, a complete mathematical model for task assignment problem of UAV swarm is established. Second, the process of Consensus-Based Bundle Algorithm (CBBA) is described, while performance and convergence speed of it is analysed. Additionally, based on this algorithm, for the time window constraints of heterogeneous UAV swarm and tasks, some improvement is added into CBBA, which validity is discussed. Finally, both single simulation and multiple Monte Carlo simulations of CBBA with time windows are conducted to verify the effectiveness and robustness of CBBA, and time complexity is speculated.
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Yang, S., He, S., Song, T., Wang, J. (2023). Improved Consensus-Based Bundle Algorithm for Multi-to-Multi UAV Interception. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_439
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DOI: https://doi.org/10.1007/978-981-19-6613-2_439
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