Multi Unmanned Aerial Vehicle Collaborative Hunting Task Allocation Method by Improved Consensus-Based Bundle Algorithm

To form a task-oriented encirclement alliance efficiently while encircling multiple dynamic targets, an improved consensus-based bundle algorithm (iCBBA), is established in this paper. Firstly, the task sequence of every drone is constructed. Then, the task-oriented encirclement alliance to complete the task is formed. A clear difference between iCBBA and CBBA is that the former is about multitask allocation of hunting dynamic targets while the latter usually focuses on single task allocation of a static target. The simulation results show that, this improved algorithm can effectively complete the task assignment of multiple UAVs with different types of targets, and the execution order is reasonable.