| The unmanned aerial vehicles(UAV)application in military and civilian fields is becoming more and more widely.and the application mode of the UAV is also developing from a single UAV application mode to the multi UAV formation joint mission mode.The modern battlefield environment is a kind of uncertain environment,and the uncertain environment brings new technical challenges to the task assignment of UAV formation.This paper studies the formation of UAVs to perform the task allocation problem in uncertain environment,to maximize the task allocation efficiency as the goal.We adopt double contract net negotiation method for task allocation of multi UAV formation.(1)This paper describes and analyzes the task allocation method and algorithm of UAV formation,and then introduces the double layer negotiation method of the task network assignment of UAV formation.(2)To solve the influence of uncertainty environment for task allocation,We based on the analysis of the various of the battlefield environment,these key various combining possible battlefield environment,to quantify the degree of uncertainty.(3)Through the analysis of the battlefield environment,the effectiveness evaluation method of the influence diagram is used to evaluate the effectiveness of the tasks assignment,which is the basis of the negotiation among the formations.Based on the above work,the feasibility and effectiveness of the task allocation method is verified by simulation experiments. |
