An Auction-Based Multiple Constraints Task Allocation Algorithm for Multi-UAV System

Abstract

Task allocation is a very important part in multi-UAV system. There are a lot of factors needed to be taken into consideration when assigning a dynamic task to one of the UAV in the multi-UAV system. We aim at solving the multi-UAV dynamic task allocation problem under multiple constraints. In this paper, we propose a method which uses the auction algorithm to assign the dynamic tasks to the UAVs. We propose a multi-layer cost computation method, in which the computation of the cost is divided into four layers in accordance with the four types of constraints. In this way, we solve multiple constraints and provide a way of calculating the price for bid. We use a simulation experiment to show the effectiveness of the new method. The result indicates that our proposed method can assign the new tasks very well and solve the multiple constraints at the same time.