Task Allocation In The Centralized And Multi-type UAV Fleets

With the increasingly complex environment, the missions of the UAV growvariously. The operational manner of UAV changes from the independence towards themulti-way, more types of UAV. through the research of the assignation of the multi-typeUAV, you can make the types of completed tasks more diversely and the quality andefficiency improved greatly．This paper addresses the problem of task allocation in the centralized andmulti-type UAV fleets. Centralized refers to in the task allocation process, UAV is in asubordinate position, UAV do not have independent ability, completely under controlof human in control base. Multi-type UAV refers to the different abilities of UAV.First of all, this paper introduces the present situation of the applications of UAV,discussed some kinds of task allocation algorithms and analyzed their advantages anddisadvantages. What’s more, in a static environment, based on the planar gridcoordinate system, we set up a multi-UAV task allocation mathematical model anddesigned a Static allocation algorithm with humans attended. Then use an example offorest outfire to Show the feasibility and practicability of the algorithm by thesimulation analysis of Matlab. Finally, according to two situations: UAV changed ortasks changed, the task allocation changes to dynamic redistribution, in dynamicenvironment.