哈尔滨工程大学学报2016，Vol.37Issue(12)：1638-1644,7.DOI:10.11990/jheu.201510019
运动学约束条件下多AUV任务分配算法
Task assignment for a multi-AUV system under kinematic constraint
摘要
Abstract
To solve the task assignment and path planning problems of a system with multiple autonomous underwa-ter vehicles ( AUVs) , a multi-AUV task assignment algorithm under kinematic constraints is proposed, which com-bines the Dubins Path algorithm with an improved SOM( self-organizing map) neural network algorithm. The tasks were first assigned by the SOM neural network. If there were kinematic constraints or obstacles that led to the failure of Dubins path-planning, task re-assignment was implemented until the AUVs reached all the target points. Simula-tion results show that the algorithm can effectively accomplish task assignments for a multi-AUV system under kine-matic constraints.关键词
自治水下机器人/多任务分配/路径规划/自组织映射/Dubins Path/运动学约束/负载均衡Key words
autonomous underwater vehicles(AUV)/multi-task assignment/path planning/self-organizing map/Dubins Path/kinematical constraints/workload balance分类
信息技术与安全科学引用本文复制引用
李欣,朱大奇,徐珂昂..运动学约束条件下多AUV任务分配算法[J].哈尔滨工程大学学报,2016,37(12):1638-1644,7.基金项目
国家自然科学基金项目（51279098）；上海市科委创新行动计划（14JC1402800，13510721400）． （）
