【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 2642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

% 二阶控制器设计
clear
clc
close all
% 目标运动轨迹
x0(1,1) = 10;
y0(1,1) = 5;
vx0(1,1) = 2;
vy0(1,1) = 3.5;
theta0 = atan(vy0/vx0);
ux0(1,1) = 0;
uy0(1,1) = 0;

% 时间参数
tBegin = 0;
tEnd = 10;
dT = 0.1;
times = (tEnd-tBegin)/dT;
t(1,1) = 0;

% 跟踪者运动轨迹
x1(1,1) = 3;
y1(1,1) = 6;
vx1(1,1) = 0;
vy1(1,1) = 0;
% theta1 = 0;

x2(1,1) = 1;
y2(1,1) = 15;

x3(1,1) = 0;
y3(1,1) = 3;

x4(1,1) = 2;
y4(1,1) = 0;

d01(1,1) = sqrt( (x0(1,1)-x1(1,1))^2 + (y0(1,1)-y1(1,1))^2