仿灰狼合作捕食行为的无人机集群动态任务分配

Large scale uxnmanned aerial vehicle (UAV) swarm can answer for the unavailable tasks for the traditional UAVs. It is necessary to consider the balance of resource and the multi-objection of mission planning for improving the success rate and the reliability of UAV swarm. Gray wolfs are typical hunting animals that tend to hunt preys by group coordination, where the social hierarchy and cooperative predation are specific characteristics in the gray wolf-pack hunting processes. The group interaction mechanism and the cooperative hunting behavior of gray wolfs are modeled by analyzing the hunting process of gray wolf-pack. On this basis, the gray wolf cooperative predation behavior mechanism is mapped to the UAV cluster dynamic task allocation, of which the process is established. The simulation results show that when the relationship between the number of UAV clusters and task nodes is different, the proposed dynamic task allocation method has obvious advantages in resource balance and effectiveness.