In the application of wireless charging to large scale sensor nodes by multi-UAV,a distributed fast auction for multi-task allocation algorithm(DFAMTA) is proposed to assign the tasks and plan the route for multi-UAV.With the algorithm,a central controller is unnecessary,each UAV builds multi-node task set to bid according to its own flight endurance,location information and remaining energy of sensor nodes;the winning bidders are determined independently and parallelly on each single task layer,which im-mensely accelerates the convergence time of task assignment. Theoretical analysis proves that DFAMTA guarantees at least 50% performance compared with optimal allocation scheme even in the worst case.Sim-ulation verifies the superiority of the scheme on the convergence time and the improvement in the average coverage probability of wireless sensor network(WSN).%以多个无人机(UAV)为大面积分布的传感器节点无线充电为应用场景,提出了一种分布式快速拍卖算法(DFAMTA)用于为多个UAV分配任务及规划航线.利用该算法,不需集中控制器,每个UAV根据自己的续航能力和获知的节点位置及剩余电量信息,建立包含多个节点的任务集进行投标;中标者的确定在单个任务层面上独立并行进行,大大节省了任务分配的收敛时间.理论证明, DFAMTA算法在最差情况下也能获得最优分配算法50%的性能.仿真验证了算法在收敛时间上的优势以及在改善无线传感器网络系统平均覆盖率方面的优越性.
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