Task allocation and scheduling method for heterogeneous unmanned system in marine dynamic environment

The invention discloses a task allocation and scheduling method for a heterogeneous unmanned system in a marine dynamic environment, and the method comprises the steps: predicting environment energy consumption information through constructing an environment energy consumption prediction model; constructing a cooperative multi-task allocation model of the multi-heterogeneous unmanned system for executing tasks on multiple static ground targets, taking predicted environmental energy consumption information as model input, and matching a task execution time period and an energy consumption prediction time period in combination with the driving speed of the unmanned system in a task scheme; based on the cooperative multi-task allocation model, determining an optimal individual by adopting a non-dominated sorting genetic algorithm with an elitist strategy, and taking the optimal individual as a final task pre-allocation scheme; and executing the task pre-allocation scheme, dynamically updating the task time perio