基于改进最小边际代价算法的多USV多AUV任务分配.docxVIP

基于改进最小边际代价算法的多USV多AUV任务分配

目录

1.内容概述................................................2

1.1研究背景.............................................2

1.2动机与研究问题.......................................4

1.3相关工作.............................................5

1.4文章结构.............................................6

2.文献综述................................................7

2.1最小边际代价算法.....................................8

2.1.1算法原理.........................................9

2.1.2算法的优势......................................10

2.1.3使用案例........................................11

2.2多USV与多AUV系统....................................12

2.2.1系统组成与功能..................................13

2.2.2系统应用场景....................................15

2.3任务分配............................................16

2.3.1任务分类........................................17

2.3.2分配策略........................................18

2.3.3性能评估准则....................................19

3.问题描述...............................................20

3.1任务模型............................................21

3.2资源限制............................................22

3.3优化目标............................................23

4.方法论.................................................23

4.1算法改进方案........................................25

4.1.1算法核心思想....................................27

4.1.2算法流程图解....................................28

4.2计算复杂度分析......................................28

4.3实验设计............................................29

5.结果与分析.............................................30

5.1实验结果............................................32

5.1.1数据集介绍......................................33

5.1.2实验条件设置....................................34

5.2对比实验............................................35

5.2.1算法性能对比....................................36

5.2.2实际应用效果表现................................37

1.内容概述

IMMCA）的多USV（无人水面舰）多AUV（自主水下航行器）任务分配方法。随着海洋科技的飞速发展，USV和AUV在水