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Multiple-underwater-robot autonomous task allocation method based on space-based center

A technology of underwater robot and distribution method, which is applied in the direction of instruments, non-electric variable control, height or depth control, etc., and can solve problems such as poor system robustness, inability to complete sudden tasks, and centralized solution to the large calculation load of central nodes. Achieve the effects of wide application range, improved reliability and robustness, and improved efficiency

Active Publication Date: 2021-05-28
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

The algorithm model of the current multi-autonomous underwater robot task assignment method is mainly based on the known task number, location and workload in advance, and establishes an evaluation function based on energy optimization and task assignment to solve the multi-autonomous underwater robot task assignment model in a nonlinear space. , the advantage of this task allocation method is that it is simple to implement, and the disadvantage is that the calculation load of the centralized solution center node is large, the system robustness is poor, and it is mainly for offline task allocation; in recent years, in order to overcome the shortcomings of centralized task allocation, research Personnel began to introduce distributed solutions for the task allocation of multi-autonomous underwater robots. The suspected goal of optimization science is still the minimum energy constraint and minimum execution time, but the premise of the algorithm model is still to obtain all task sequences in advance. There are certain limitations in the application. The current optimal allocation model for tasks may not be the optimal allocation for sudden tasks, or even unable to complete sudden tasks.

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  • Multiple-underwater-robot autonomous task allocation method based on space-based center
  • Multiple-underwater-robot autonomous task allocation method based on space-based center
  • Multiple-underwater-robot autonomous task allocation method based on space-based center

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Embodiment Construction

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0042] The entire system consists of space-based satellites, semi-submersible underwater robots, and autonomous underwater robots. The role of space-based satellites is to broadcast multi-science suspected target information in a wide area of ​​the sea; An autonomous underwater robot that performs scientific suspected target search tasks underwater; the function of an autonomous underwater robot is to perform scientific suspected target search tasks underwater. The system composition is as follows: figure 1 shown.

[0043] The workflow of the whole system is as follows: First, the satellite broadcasts the discovered multi-scientific targets to the semi-submersible underwater robot, and the semi-submersible underwater robot uses the underwater acoustic communicator to broadcast the target information to the autonomous underwater robot that perf...

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Abstract

The invention belongs to the technical field of multi-underwater robot task allocation, and relates to a multiple-underwater-robot autonomous task allocation method based on a space-based center. The method comprises the following steps of: a semi-submersible underwater robot broadcasts target information to an autonomous underwater robot executing a search task; and the autonomous underwater robot autonomously allocates a target task according to the cost and a task value normalization function. Compared with a traditional centralized multi-autonomous underwater robot task allocation method, the method of the invention employs a distributed calculation method, therefore, the defect that the calculation load of a traditional centralized task allocation center node is large is overcome. The application range of the method of the invention is wide, the reliability and robustness of multi-autonomous underwater robot task allocation are improved. According to the method, the distributed decision making technology is used for task allocation of multiple autonomous underwater robots, the handling capacity for dealing with sudden task events is enhanced, and the efficiency of autonomous task allocation of the multiple autonomous underwater robots is improved.

Description

technical field [0001] The present invention relates to the technical field of multi-underwater robot task assignment, in particular to an unmanned autonomous underwater robot (AUV for short) based on a space-based center-based multi-underwater robot online task autonomous assignment method, aiming at multi-science suspected target search tasks The task allocation problem of AUV clusters realizes the distributed multi-AUV task allocation considering the target value, target cost estimation, and AUV capacity constraints in the target area. Background technique [0002] In the process of marine engineering and marine scientific investigation, unmanned autonomous underwater robots play an increasingly important role. With the increasing application of unmanned autonomous underwater robots, the workload and complexity of tasks undertaken by unmanned autonomous underwater robots are getting stronger and stronger. The singleness cannot adapt to the new task requirements, and the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 王轶群李硕张岳星赵宏宇徐会希
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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