Aiming at the problem of UAV swarms with distributed subsets performing cooperative reconnaissance-and-attack tasks on multi-targets in complex and uncertain combat scenarios, a distributed grouping cooperative dynamic task assignment method is proposed based on extended contract network protocol. The dynamic task assignment model for the UAV swarm with the topology of distributed subsets is established considering multiple constraints such as task cooperation, performing sequence, dynamic environment, communication topology, payload model, and UAV capability. According to the characteristics of multi-participants and multi-tasks in the process of UAV swarm executing tasks, the determination mechanism on cooperators and the selection mechanism of sequential tasks are proposed, and then the contract network protocol is extended. On the basis of the above, an event-triggered task assignment strategy for dynamic tasks is designed. The simulated results show that the proposed method can achieve the cooperative dynamic assignment of the UAV swarm to perform reconnaissance-and-attack tasks to multi-targets in complex and uncertain combat scenarios, improve the adaptiveness of the swarm under the sudden circumstance, and realize the optimization for task execution efficiency of the UAV swarm.
The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper proposed a route-based formation switching and obstacle avoidance method. First, the consistency theory was used to design the UAV swarm formation control protocol. According to the agreement, the self-organized UAV swarm could obtain the formation waypoint according to the current position information, and then follow the corresponding rules to design the waypoint to fly around and arrive at the formation waypoint at the same time to achieve formation switching. Secondly, the formation of the obstacle avoidance channel was obtained by combining the geometric method and an intelligent path search algorithm. Then, the UAV swarm was divided into multiple smaller formations to achieve the formation obstacle avoidance. Finally, the abnormal conditions during the flight were handled. The simulation results showed that the formation control technology based on distributed ad hoc network was reliable and straightforward, easy to implement, robust in versatility, and helpful to deal with the communication anomalies and flight anomalies with variable topology.
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