Multi-UAV cooperative task allocation for multi-point reconnaissance and communication services

2025-5-4- 14

Multi-UAV cooperative task allocation for multi-point reconnaissance and communication services
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                        Yao Changhua1Yao Changhua
Nanjing University of Information Science & Technology
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An Lei2,3,4An Lei
Nanjing University of Information Science &amp; Technology
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Liu Xin5Liu Xin
School of Information Science and Engineering, Guilin University of Technology
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Han Guizhen6Han Guizhen
School of Electronics & Information Engineering, Nanjing University of Information Science & Technology
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Gao Zehe6Gao Zehe
School of Electronics & Information Engineering, Nanjing University of Information Science & Technology
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Affiliation:1.Nanjing University of Information Science & Technology;2.Nanjing University of Information Science &3.amp;4.Technology;5.School of Information Science and Engineering, Guilin University of Technology;6.School of Electronics & Information Engineering, Nanjing University of Information Science & Technology
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Fund Project:The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan);China Postdoctoral Science Foundation

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Abstract:

Aiming at the collaborative optimization problem of multi-UAV reconnaissance and communication services for multiple heterogeneous targets, by considering the mission requirements and value of different targets, as well as the multi-UAV coordination gain and behavior restriction relationship, the Stackelberg game model is constructed. The upper-level drone is established as the leader of the game, the lower-level drone is established as the follower of the game, and a distributed strategy update iterative algorithm is proposed, which realizes the stable convergence of the multi-UAV task allocation scheme and the optimization of the task revenue. The simulation results show that the proposed method can effectively improve the efficiency of multi-UAV systems to complete multiple tasks at the same time, and can achieve efficient collaboration for the value of heterogeneous tasks in different environments.

Key words:multi-UAV system; task allocation; Stackelberg game; iterative algorithm; reconnaissance and communication