Allocation of Multi-UAVs Timing-dependent Tasks based on Completion Time

Abstract

UAVs have played an important role in many fields such as military, civilian and scientific research due to their strong advantages in information sharing and behavioral collaboration. However, it is quite difficult to provide a reasonable allocation algorithm for multiple UAVs timing-dependent tasks since the complexity of timing-dependent tasks and the heterogeneity among multiple UAVs. Aiming at the problem that multiple UAVs perform timing-dependent tasks, this paper firstly uses DAG to represent the timing-dependencies of tasks, secondly considers the priority of tasks, and finally combines the completion time of tasks to propose the task-completion-time based task allocation algorithm(TCT). The allocation results based on the randomly generated area scanning task set shows that, compared with the traditional solution, the assignment algorithm in this paper can improve the distance and time performance by up to 32% and 37% respectively.