农业机械学报2026，Vol.57Issue(19)：103-113,11.DOI:10.6041/j.issn.1000-1298.2026.19.010
基于GMM-BHO与Hybrid A*的海洋牧场无人船集群投喂任务分配方法
Feeding Task Allocation Method of USV Cluster in Marine Ranching Based on GMM-BHO and Hybrid A*
摘要
Abstract
Aiming at the problems of time window concentration,limited USV bait capacity,frequent replenishment and return,and strong obstacle avoidance constraints in the automatic feeding of large-scale cages in marine ranching,a USV cluster feeding task allocation and path planning method combining Gaussian mixture model(GMM),bounty hunter optimization algorithm(BHO)and Hybrid A* was proposed.Firstly,the task-obstacle integration model was constructed,and the cage was characterized as feeding service object and path planning expansion obstacle at the same time.Secondly,GMM was used to generate a spatially continuous initial responsibility area,which was injected into BHO as a structured elite individual,and the task attribution,replenishment times and time window violation cost were optimized through boundary task adjustment.Finally,the capacity-aware TSP,replenishment node insertion and Hybrid A* were combined to generate an executable path that satisfied the cage obstacle avoidance,heading continuity and surrounding feeding constraints.The simulation results showed that the proposed method achieved 100%task completion rate and zero obstacle violation in a 180 min time window under the conditions of 60 equivalent diameter 80 m cages,6 USVs and 5 m/s ferry speed.Under the 120 min tight time window,compared with the K-means and GMM methods,the total voyage was reduced by 6.4%,the total delay time was reduced by 19.8%,and the number of replenishments was reduced from 11 to 9.The results showed that this method can improve the timeliness,safety and supply organization efficiency of USV cluster automatic feeding in complex marine ranching scenarios.关键词
海洋牧场/无人船/自动投喂/任务分配/高斯混合模型/混合A*算法Key words
marine ranching/unmanned ship/automatic feeding/task allocation/GMM-BHO/Hybrid A*分类
农业科技引用本文复制引用
袁剑平,高翼,高智强..基于GMM-BHO与Hybrid A*的海洋牧场无人船集群投喂任务分配方法[J].农业机械学报,2026,57(19):103-113,11.基金项目
广东省教育厅重点领域专项(2023ZDZX3004)和深圳市自然科学面上基金项目(JCYJ20250604174201002) （2023ZDZX3004）
