UNMANNED AERIAL VEHICLE SWARM COLLABORATIVE TASK ALLOCATION METHOD UNDER UNCERTAIN DISTURBANCE

The unmanned aerial vehicle (UAV) swarms, characterized by high mobility, low cost, and flexible configuration, are widely used in various civilian and military fields such as aerial communication, geological exploration, and strike missions. However, when operating in complex natural or confrontation environments, UAV swarms face increased uncertain disturbances including component failures, external attacks, and environmental impacts. The most existing UAV swarm task scheduling methods are difficult to meet the real-time task assignment requirements under multi-source disturbances and dynamic task changes. Therefore, this paper investigates the collaborative task allocation methods for UAV swarm under uncertain disturbances. Firstly, the architecture and characteristics of UAV swarm are analyzed, and then the disturbance factors that UAV swarm may face are identified. Secondly, the UAV swarm network model under uncertain disturbance conditions is constructed based on complex hypergraph theory. Then, a collaborative task allocation algorithm for UAV swarm is proposed, considering uncertain disturbances and UAV resources constraints, to achieve distributed collaborative decision-making and meet the requirements for effective and timely task allocation. Finally, the feasibility of the proposed method is verified by a case study.