A Distributed Collaborative Allocation Method of Reconnaissance and Strike Tasks for Heterogeneous UAVs

Unmanned aerial vehicles (UAVs) are becoming more and more widely used in battlefield reconnaissance and target strikes because of their high cost-effectiveness, but task planning for large-scale UAV swarms is a problem that needs to be solved. To solve the high-risk problem caused by incomplete information for the combat area and the potential coordination between targets when a heterogeneous UAV swarm performs reconnaissance and strike missions, this paper proposes a distributed task-allocation algorithm. The method prioritizes tasks by evaluating the swarm's capability superiority to tasks to reduce the search space, uses the time coordination mechanism and deterrent maneuver strategy to reduce the risk of reconnaissance missions, and uses the distributed negotiation mechanism to allocate reconnaissance tasks and coordinated strike tasks. The simulation results under the distributed framework verify the effectiveness of the distributed negotiation mechanism, and the comparative experiments under different strategies show that the time coordination mechanism and the deterrent maneuver strategy can effectively reduce the mission risk when the target is unknown. The comparison with the centralized global optimization algorithm verifies the efficiency and effectiveness of the proposed method when applied to large-scale UAV swarms. Since the distributed negotiation task-allocation architecture avoids dependence on the highly reliable network and the central node, it can further improve the reliability and scalability of the swarm, and make it applicable to more complex combat environments.