数字海洋与水下攻防2024，Vol.7Issue(2)：164-169,6.DOI:10.19838/j.issn.2096-5753.2024.02.004
面向多区域高效搜索的UUV集群任务分配
UUV Swarm Task Allocation for Efficient Multi-area Searching
吴楚 1鲁辛凯 2周河宇 1曾令东 1吴小涛1
作者信息
- 1. 中国船舶集团有限公司第七一〇研究所,湖北 宜昌 443003||清江创新中心,湖北 武汉 430076
- 2. 中国船舶集团有限公司第七一〇研究所,湖北 宜昌 443003||华中科技大学 人工智能与自动化学院,湖北 武汉 430074||清江创新中心,湖北 武汉 430076
- 折叠
摘要
Abstract
Task allocation is crucial to improve the efficiency when UUV performs large-scale searching tasks.In this paper,task allocation problem of UUV swarm in multi-area searching is solved to minimized the completion time of area searching.Aiming at the problem that the traditional Hungarian algorithm cannot solve the problem of unbalanced task allocation,an improved Hungarian multi-round allocation algorithm is proposed.This algorithm achieves efficient utilization of idle UUVs and reasonable allocation of target areas through multi-round task allocation.By introducing marginal cost and conservative estimated time in the cost function,the completion time of area searching is greatly reduced.Simulation results show that the algorithm proposed in this article can be used to allocate idle UUVs and improve allocation efficiency compared with the traditional Hungarian algorithm.In addition,compared with the algorithm only using the search time as the cost function,our algorithm can shorten search time as much as possible for long-time-consuming areas,ensuring that the completion time of area searching decreases monotonically as the number of UUVs increases.关键词
UUV/任务分配/匈牙利算法/区域搜索Key words
UUV/task allocation/Hungarian algorithm/area searching分类
信息技术与安全科学引用本文复制引用
吴楚,鲁辛凯,周河宇,曾令东,吴小涛..面向多区域高效搜索的UUV集群任务分配[J].数字海洋与水下攻防,2024,7(2):164-169,6.
