The invention discloses a UUV cluster dynamic task
planning method based on a multi-target
genetic algorithm, a program, equipment and a storage medium, and belongs to the field of
underwater multi-UUV cooperative detection of multiple targets. According to the method, firstly, for path planning of regional task points,
chromosome representation is completed through sequential coding, chromosomes are selected and ranked randomly, and the
chromosome with the highest fitness value is selected from each group; then, in each group of the current
population, selecting an optimal parent individual to carry out
crossover and
mutation operations so as to improve the quality of
offspring individuals, and carrying out updating to obtain a next-generation
population; and finally, obtaining a plurality of optimal individuals, and outputting a task planning path result. Dividing the search area into a plurality of task sub-areas, and completing the dynamic task planning of the UUV cluster according to the
target distribution condition of the sub-areas and the condition of each UUV. According to the method, the search strategy can be adjusted in real time according to the real-time detection result and the environment change, so that the
target distribution non-uniformity and the cluster efficiency difference are effectively relieved.