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With the help of multiple UCAV cooperative task control model, the mathematical model of multiple UUV cooperative task control is made. Variables related to decision are broken into goals, guidelines and programs levels by Analytical Hierarchy Process (AHP), on this basis; the command decision of multiple UUV task assignment is achieved. The correctness of task allocation algorithm is verified by case analysis. Time calculation formulas for a task assignment are given. The changes of overall effectiveness in the process of task allocation are analyzed, the time changes of each sub task allocation time in one task assignment are analyzed, the time changes of the number of tasks and platforms respectively fixed in task allocation are also discussed.

The Command Decision Method of Multiple UUV Cooperative Task Assignment Based on Contract Net Protocol