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A task assignment method for rounding up mauvs

A task allocation and task technology, which is applied in the control of finding targets, position/direction control, two-dimensional position/channel control, etc., can solve the problems of undetailed design, poor immediacy of allocation strategies, etc., to improve accuracy, improve The effect of rounding up accuracy

Active Publication Date: 2020-05-22
HARBIN ENG UNIV
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Problems solved by technology

[0003] In the existing literature research, the control of round-up actions is generally studied, and the task assignment of MAUVS in the round-up process is not designed in detail. With the development of the anti-round-up mechanism, if you want to quickly and successfully round-up, a good task assignment method is the major premise. Patent Publication No. CN105843227A proposes a multi-robot collaborative round-up task assignment method based on dynamic adjustment of task intensity. It is relatively successful in the research on round-up task assignment. However, the auction algorithm is used to assign tasks during the round-up process. Therefore, it is urgent to propose a better and more dynamic round-up strategy research

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  • A task assignment method for rounding up mauvs
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  • A task assignment method for rounding up mauvs

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Embodiment Construction

[0033] With the development of robot intelligence in recent years, the anti-round-up mechanism has also been greatly developed, that is, the rounded-up target AUV has the ability to escape intelligently. The present invention proposes a kind of task distribution method facing MAUVS round-up to this problem, establishes a new task distribution strategy for round-up, and proposes a kind of multi-layer star-shaped ambush formation, makes an improvement to the traditional star-shaped ambush formation Improvements have been made to improve the accuracy of the model, which in turn improves the accuracy of the roundup. The method of the present invention will be further explained and illustrated below in conjunction with the accompanying drawings.

[0034] Step 1: Task Description

[0035] In the two-dimensional simulation environment, several heterogeneous round-up AUVs are randomly generated between the target AUV and the destination, and the number of hunting AUVs required to suc...

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Abstract

The invention aims to provide a task distribution method of MAUVS round up. During the round up process of MAUVS, the intelligent run-away performance of the target AUV is improved. Consequently, if aconventional round-up strategy is still adopted, which means only the movement controlling problem during the round-up process is under research, the escaping probability of the target AUV will be increased. The invention is advantageous in that the breakthrough of the conventional round up strategy is achieved, and model precision is effectively raised, and round-up accuracy will be enhanced.

Description

technical field [0001] The invention relates to the technical field of robot siege strategies, in particular to a task allocation method for MAUVS siege. Background technique [0002] Because MAUVS (Multiple Autonomous Underwater Vehicles System) has incomparable advantages such as spatial distribution, functional diversity, parallelism in executing tasks, strong fault tolerance and lower economic cost, etc., MAUVS In recent years, the system has become a hot spot of widespread concern. The main issues of MAUVS system research include group structure, task allocation, communication methods, collaborative learning, etc. In order to make the research more meaningful in actual scenarios, researchers focus on some MAUVS tasks, including formation cooperation, search, round-up and so on. Among them, MAUVS cooperative round-up is a very typical problem, which involves many aspects in the MAUVS field, including MAUVS architecture, communication methods, cooperative control, task ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12G05D1/02G05D1/00
Inventor 孟宇龙张朦朦张子迎徐东姬少培李贤吕骏王杰方一成王岩俊
Owner HARBIN ENG UNIV