信息重传与丢包补偿的多无人机分布式任务分配方法

To address issues such as rapid convergence and communication burden caused by communication package loss, a distributed task allocation algorithm based on information retransmission and package loss compensation is proposed. An inter-UAV information retransmission mechanism is designed. Each UAV adjusts the number of task information retransmissions according to the communication quality, effectively reducing the probability of package loss. The convergence iteration rule of the allocation algorithm with the retransmission mechanism is raised, and the acceleration effect of the retransmission mechanism on the algorithm蒺s convergence is proved. The loss estimation distributed task allocation (LE-DTA) algorithm is proposed to further reduce communication redundancy. The estimation information is used to compensate for lost packages to participate in the distributed task allocation process, which lowers the communication requirements between UAVs. The convergence of the LE-DTA algorithm is then proved. The simulation comparison results show that the improved Consensus-Based Bundle Algorithm (CBBA) with the information retransmission mechanism can effectively accelerate the convergence process, but the disadvantage is the high communication load between UAVs, while the LE-DTA has obvious performance advantages in high package loss rates and low network connectivity scenarios.