Modeling and Solving the Dynamic Task Allocation Problem of Heterogeneous UAV Swarm in Unknown Environment

Table 6

Solving method parameter settings.

Method	Parameter settings
BWPA	Maximum number of walks: , walking step length: , strike step length： , attack step length： , decision distance： , update scale factor： .
BPSO	Inertia weight： , learning factor ： , individual speed limit ：(-0.5,0.5).
BASFA	Maximum number of trials: , perception distance： , congestion factor： , walking step length： .
GA	Crossover probability: , mutation probability: .