中文摘要：

时敏目标呈现的持续时间和出现空间不稳定等特点加大了无人机编队任务分配难度,将影响无人机编队的任务执行效果。针对该问题,在Leader-Follower编队结构下提出一种多无人机时敏任务动态分配算法,实现战场环境下多架无人机对多个时敏目标的打击。该算法在时敏目标时间窗口约束下,通过综合评估目标威胁代价、距离代价、任务执行时间、毁伤能力和打击收益完成编队任务动态分配,保证了无人机编队打击多个时敏目标的效能最大化。仿真结果证明了该算法的有效性。

英文摘要：

The characteristics of time-sensitive targets,which have unstable duration and appearing space,increase the difficulty of unmanned aerial vehicles（UAVs）formation task allocation,and it will affect the task execution results of the UAVs formation.Aiming at this problem,a time-sensitive task dynamic allocation algorithm for multi-UAVs under the Leader-Follower formation structure is put forward.Thus,UAVs can attack time-sensitive targets in battlefield environment.This algorithm comprehensively evaluates the threat cost of the targets,distance cost,task execution time,damage ability and attacking earning to complete task dynamic allocation within the time-sensitive targets time window constraints,which guarantees the maximum operational effectiveness of UAVs formation attacking multiple time-sensitive targets.The simulation results demonstrate the effectiveness of the proposed algorithm.