【任务分配】合同网协议（CNP算法）多无人机具有时间窗口和优先级约束任务分配及跟踪问题【含Matlab源码 2641期】

⛄一、合同网协议简介

合同网协议（CNP算法），用于具有时间窗口和优先级约束的网络上多智能体多任务分配问题。

⛄二、部分源代码

close all
clc
clear

num_of_UAVs = 4; % Num of UAVs

time = 1300;

sample_arena = Arena; % Arena , If you want to change the position of static
% Obstacals, see the Arena.m file

tic

for i = 1:1:num_of_UAVs
% Initialising the Aircrafts
UAVs(i) = AirCraft(i);

end

sample_mission_planner = mission_planner(UAVs, sample_arena );
% Initialising the mission planner
N = time/sample_arena.dt;
%% Loop run

for i = 1:1:N

for k = 1:1:numel(UAVs)
    
    sample_mission_planner.plan_mission(k);
    % Plan mission i,e get the new command for the k-th UAV
end

for k = 1:1:numel(UAVs)
    UAVs(k).move(sample_arena);
    % move the K-th UAV
end

end

toc

%% Figure plo