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Heterogeneous multi-AUV task coordination method under task order constraint

A coordination method and task technology, applied in the field of task coordination of heterogeneous multi-AUV systems

Inactive Publication Date: 2018-01-23
HARBIN ENG UNIV
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Problems solved by technology

[0004] The technical status of the multi-AUV collaborative system is that the cooperative multiple robots must have the ability of collaborative decision-making in order to complete the predetermined task as a whole, and the cooperation is carried out in a structural way, and the form of this structure is still inconclusive.

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  • Heterogeneous multi-AUV task coordination method under task order constraint
  • Heterogeneous multi-AUV task coordination method under task order constraint
  • Heterogeneous multi-AUV task coordination method under task order constraint

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Embodiment Construction

[0075] The present invention is a heterogeneous multi-AUV system task coordination method based on task sequence constraints, which will be described in detail below in conjunction with specific trial sequences:

[0076] This method mainly comprises the following steps:

[0077] (1) Establish communication between the surface workstation and the AUV. The surface workstation obtains the initial position information of each AUV through radio or wireless network to prepare for optimal decision-making and instruction transmission. In this step, the surface workstation can obtain the precise location information and equipment type information of the AUV through data exchange with the AUV.

[0078] (2) Initialization work; mainly including surface workstation initialization, mission task download, and clock initialization. This step is mainly to obtain mission-related information, including coordinate information and sea area information of each mission area, and is used to estimat...

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Abstract

The invention relates to a heterogeneous multi-AUV (Autonomous Underwater Vehicle) task coordination method under a task order constraint. A multi-AUV system is mainly composed of a water-borne workbench and AUVs with different functions. The water-borne workbench is responsible for processing system data, optimizing task allocation, and issuing task instructions. The AUVs with different functionsare mainly responsible for receiving task instructions and going to a task sea area to perform different tasks. In the invention, for tasks needing to be executed in a fixed order in practical application, the allocation of the tasks to AUVs is optimized with the shortest completion time as the objective to get an optimal task allocation scheme. The existing changing to-be-executed tasks are repeatedly optimized in real time in order to constantly ensure that the task allocation scheme is optimal under the current condition.

Description

technical field [0001] The invention relates to the field of task coordination of heterogeneous multi-AUV systems, in particular to a method for task coordination of heterogeneous multi-AUV systems under task order constraints. Background technique [0002] Generally speaking, a single AUV is capable of some simple tasks, and it is difficult for a single AUV to efficiently complete some more complex tasks, such as comprehensive survey tasks for various marine resources in different regions, topographic surveys, etc. In such large-scale or complex tasks, a single AUV appears to be powerless from the perspective of energy and survey capabilities. Therefore, the multi-AUVs system MAUVS came into being, trying to complete the entire complex task through the joint division and cooperation of multiple AUVs, in which each AUV only needs to complete some of the assigned sub-tasks. AUVs with different functions and performances allocate these subtasks reasonably to make the group wo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/06
Inventor 李娟张昆玉鲁赛张秉健刘彩云袁锐锟
Owner HARBIN ENG UNIV
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