多个水下机人动任务路径划的信度算-控制理论与应用.PDFVIP

32 6 Vol. 32 No. 6 2015 6 Control Theory Applications Jun. 2015 DOI: 10.7641/CTA.2015.40996 , ( , 201306) : (autonomous underwater vehicles, AUVs) , , (belief function self-organizing map, BFSOM). AUV , AUV . , (self-organizing map, SOM)AUV, AUV . SOM 3; , SOM , AUV , AUV . , . : AUV; ; ; ; ; : TP273 : A An improved self-organizing map method for multiple autonomous underwater vehicle teams in dynamic task assignment and path planning ZHU Da-qi , CAO Xiang (Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, China) Abstract: For the speed jump problem of AUV (autonomous underwater vehicles) in task assignment and path planning, an improved self-organizing map (SOM) method is proposed by using the grid belief function. The purpose is to control a team of AUV to reach all appointed target locations for the premise of workload balance and energy sufficiency, while ensuring automatic obstacle avoidance. Firstly, the SOM neuron network is developed for assigning tasks to a team of AUV, so that each target location will be visited by an AUV. The working process includes specifically defining the initial weights of the SOM neural network, selecting the rule for the winner, and computing the neighborhood function. Then, to avoid the obstacle autonomously and to get rid of the navigati