A Distributed Algorithm for UAV Cluster Task Assignment Based on Sensor Network and Mobile Information

Abstract

Cluster formation and task processing are standard features for leveraging the performance of unmanned aerial vehicles (UAVs). As the UAV network is aided by sensors, functions such as clustering, reformation, and autonomous working are adaptively used for dense task processing. In consideration of the distributed nature of the UAV network coupled with wireless sensors, this article introduces a Rational Clustering Method (RCM) using dense task neighbor information exchange. The Rational Clustering Method (RCM) is an algorithm for dense task neighbor information exchange that can be used to cluster objects according to their shared properties. Each object’s task neighbors, and the similarities between them, are calculated using this method. Starting with the task density of its neighbors, the RCM algorithm gives each object in the dataset a weight. This information exchange process identifies a UAV units’ completing tasks and free slots. Using this information, high-slot UAVs within the communication range can be grouped as clusters. Unlike wireless sensor clusters, task allocation is performed on the basis of available slots and UAV longevity within the cluster; this prevents task incompletion/failures and delays in a densely populated UAV scenario. Cluster sustainability or dispersion is recommended when using distributed state learning. State learning transits between the pending task and UAV longevity; an intermediate state is defined for task reassignment amid immediate cluster deformation. This triple feature-based distributed method balances tasks between failures, overloading, and idle UAVs. The RCM was verified using task processing rate, completion ratio, reassignment, failures, and delay. Task processing rate was increased by 8.16% and completion ratio was increased by 10.3% with the proposed RCM-IE. Reassignment, failure, and delay were all reduced by 12.5%, 9.87%, and 11.99%, respectively, using this method.