面向多目标优化的多AUV群体协同任务分配.docVIP

  Task Allocation of Multiple Autonomous Underwater Vehicle System Based on Multi-objective Optimization WANG Hongjian, LV Hongli, WANG Linlin* 5 10 15 20 25 30 (Harbin Engineering University, Automation College, Harbin 150001) Abstract: When executing a complex mission, the multi-AUV system need to confirm a better task allocation scheme to make sure that the system is efficient. However, there are many standards which are utilized to determine the system’s efficient, and there maybe confliction between them. In order to solve the task allocation of multi-AUV system based on multi-objective optimization, a multi-objective optimization based on ant system algorithm was proposed. By the single-objective optimization in single ant system and the interaction between different ants systems, this algorithm achieve the Pareto solution’s set at last. On the other hand, an algorithm evaluation method was given out to evaluate the performance of the algorithm above. Based on this algorithm, the task allocation of multi-AUV system based on multi-objective optimization was studied in details and the stimulation of task allocation was provided. Keywords: task allocation; multi-AUV system; cooperative work; multi-object optimization; ant system algorithm 0 Introduction According to the increase of the complexity of the ocean exploration mission and the mature of the signal AUV technology, the multi-AUV technology is concerned as more as possible. The task allocation of multi-AUV system is one of the most important techniques of the multi-AUV system corporation. Excellent task allocation scheme can improve the working efficiency and decrease the emergency cost of the multi-AUV system. However, we usually have to consider many indexes but not only one in the application. So the task allocation of the multi-AUV system has realistic value in application. 1 Task allocation problem modeling Take multi-areas terrain exploration in the sea for example, just as showed in figer.1, su