Distributed task assignment method based on local information consensus and target estimation
WU Wei-nan
CUI Nai-gang
GUO Ji-feng
Abstract：Distributed decision-making is one of the key components to improve the autonomy of robotic agents.Based on the problem of robust task assignment for a fleet of unmanned combat aerial vehicles(UCAV)and unmanned search aerial vehicles(USAV)to targets under environmental uncertainty,a distributed task assignment model which considering multi-constraints such as sparse connected network,UAV performance and task execution ability is given firstly.Bayes law is adopted to handle both continuous uncertainties and discrete uncertainties in mission space,then an on-line cooperative approach based on consensus algorithm is proposed for the given problem,and the decision rules for conflict resolution is given afterwards, and then a distributed task assignment algorithm which can simultaneously allocates UCAVs and USAVs fastly,is proposed.Finally,aspects of feasibility and rapidity of the proposed algorithm is verified according to the simulation results.
Keywords：distributed decision-makingBayes lawconsensus algorithmsparse connected networkcooperation on-line
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 566-576 )