Improved CNP-Based Task Allocation for Large-Scale UAVs with Timing Constraints

Abstract

For task allocation for multiple uncrewed aerial vehicles (UAVs) with time -series constraints, a time sequence task allocation method based on an improved contract net protocol (CNP) algorithm is proposed considering the influence of task requirements, timing constraints, and execution time of tasks. A novel reward function with time discounting was designed, and the optimization model of time-series task allocation was established with the goal of maximizing the reward of task execution. To adapt to the requirements of task execution time and multi-UAV cooperation, three stages—task release, bidding, and winning of the contract network protocol algorithm—are improved. Then the improved algorithm is used to solve the problem and the optimal task execution sequence is generated for each UAV. Simulation results verified the effectiveness and real-time performance of the proposed method, which can execute all the tasks in less time according to the timing requirements.