Multiple-underwater-robot autonomous task allocation method based on space-based center

Abstract

The invention belongs to the technical field of multi-underwater robot task allocation, and relates to a multiple-underwater-robot autonomous task allocation method based on a space-based center. The method comprises the following steps of: a semi-submersible underwater robot broadcasts target information to an autonomous underwater robot executing a search task; and the autonomous underwater robot autonomously allocates a target task according to the cost and a task value normalization function. Compared with a traditional centralized multi-autonomous underwater robot task allocation method, the method of the invention employs a distributed calculation method, therefore, the defect that the calculation load of a traditional centralized task allocation center node is large is overcome. The application range of the method of the invention is wide, the reliability and robustness of multi-autonomous underwater robot task allocation are improved. According to the method, the distributed decision making technology is used for task allocation of multiple autonomous underwater robots, the handling capacity for dealing with sudden task events is enhanced, and the efficiency of autonomous task allocation of the multiple autonomous underwater robots is improved.

Description

technical field [0001] The present invention relates to the technical field of multi-underwater robot task assignment, in particular to an unmanned autonomous underwater robot (AUV for short) based on a space-based center-based multi-underwater robot online task autonomous assignment method, aiming at multi-science suspected target search tasks The task allocation problem of AUV clusters realizes the distributed multi-AUV task allocation considering the target value, target cost estimation, and AUV capacity constraints in the target area. Background technique [0002] In the process of marine engineering and marine scientific investigation, unmanned autonomous underwater robots play an increasingly important role. With the increasing application of unmanned autonomous underwater robots, the workload and complexity of tasks undertaken by unmanned autonomous underwater robots are getting stronger and stronger. The singleness cannot adapt to the new task requirements, and the ...

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Problems solved by technology

The algorithm model of the current multi-autonomous underwater robot task assignment method is mainly based on the known task number, location and workload in advance, and establishes an evaluation function based on energy optimization and task assignment to solve the multi-autonomous underwater robot task assignment model in a nonlinear space. , the advantage of this task allocation method is that it is simple to implement, and the disadvantage is that the calculation load of the centralized solution center node is large, the system robustness is poor, and it is mainly for offline task allocation; in recent years, in order to overcome the shortcomings of centralized task allocation, research Personnel began to introduce distributed solutions for the task allocation of multi-autonomous underwater robots. The suspected goal of optimization science is still the minimum energy constraint and minimum execution time, but the premise of the algorithm model is still to obtain all task sequences in advance. There are certain limitations in the application. The current optimal allocation model for tasks may not be the optimal allocation for sudden tasks, or even unable to complete sudden tasks.

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