Multi-Time-Stage Collaborative Task Assignment for Heterogeneous UAVs Using CBBA

Aiming at the cooperative task assignment problem of heterogeneous multiple UAVs in different time stages of cooperative operation, firstly, the cooperative multitask assignment model was established by comprehensively considering the extension of constraint conditions. Secondly, considering the heterogeneous cooperative matching execution relationship of multiple UAVs in different stages of various tasks, the consensus-based bundle algorithm (CBBA) was extended. A multistage cooperative task assignment algorithm for heterogeneous multi-UAVs (heterogeneity - synergy consensus-based bundle algorithm, HS-CBBA) was proposed to realize the constraint relationship that different target tasks are coordinated executed by various heterogeneous UAVs at different execution time stages. Finally, the feasibility and effectiveness of the HS-CBBA algorithm in solving the multistage cooperative task assignment problem of heterogeneous multi-UAV execution are verified by experimental simulation.