Heterogeneous multi-AUV system task coordination method under time window constraints

Abstract

The invention discloses a heterogeneous multi-AUV system task coordination method under time window constraints, and the heterogeneous multi-AUV system task coordination method belongs to the field ofmulti-AUV task coordination. The heterogeneous multi-AUV system task coordination method comprises the steps of: acquiring a basic Auv_Mission parameter matrix through coding AUVs, a sea area and task types; calculating state transition probabilities P of all possible paths according to starting point vectors and an end point matrix; selecting a next path by adopting a roulette method according to the state transition probabilities; and optimizing and recording all the traveled paths and waiting time before each task by adopting an ant colony algorithm, and calculating to obtain a task optimal allocation scheme and an execution sequence of each AUV. According to the heterogeneous multi-AUV system task coordination method, the subtasks are reasonably allocated to the plurality of AUVs withdifferent functions and different performance, thus the effect that the operating efficiency of the group is highest, and the entire complex task is completed through shared division and collaboration.

Description

technical field [0001] The patent of the present invention relates to the field of task coordination of multiple AUVs, and specifically relates to a method for task coordination of heterogeneous multiple AUV systems under time window 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. So the multi-AUVs system (MAUVS) came into being, trying to complete the entire complex task through the joint division and cooperation of multiple AUVs, and each AUV only needs to complete some of the assigned sub-tasks. [0003] The problem of task coordination of multiple AUV groups also arises. How to reasonabl...

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Problems solved by technology

[0004] The research on multi-AUV systems is actually an important direction for the research on multi-robot systems. With the in-depth research of robot science, it will be difficult for single-robot systems to cope with certain dynamic and high-complexity tasks. In terms of perspective, but the level of intelligence of the robot system is difficult to achieve the multi-robot system

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