Multi-unmanned ship task allocation method based on a-star path optimization and consensus auction mechanism

Abstract

This invention relates to a multi-unmanned surface vessel (USV) task allocation method based on A-Star path optimization and consensus auction mechanism, comprising: Step 1, modeling a patrol mission scenario; Step 2, using A-Star path optimization to calculate the optimal path between patrol points and constructing a task area path map; Step 3, performing secondary correction on the task area path map constructed in Step 2; Step 4, using the path length matrix optimized in Step 3 as the core reference for revenue calculation, employing a consensus auction algorithm to achieve optimal matching between multiple USVs and patrol point tasks, realizing multi-vessel collaborative patrol task allocation. This method significantly improves the algorithm's adaptability to water areas, greatly enhances the collaborative efficiency of multiple USVs, and significantly improves the scenario generalization ability of the solution.

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