Research On Task Allocation Of Multiple Underwater Vehicles With Limited Communication

Under the condition of limited communication, the problem of multi-AUV taskallocation is a very challenging direction among the large number of research directions ofmulti-AUV systems. Due to the instability of underwater communications, the general taskallocation algorithm for multi-AUV system which cannot gain good consequent. Becausemost task allocation algorithms are researched which based on reliable communicationsenvironment and which did not consider the instability of communication.The paper proposes the variable delay task allocation framework, which contains thedifferent stages of task allocation of variable delay how to change. Under communicationinterrupted, the underwater vehicle how to complete task.The paper analyzes the factors which affect the variable delay, which creates a variabledelay model and predicts the changes of variable delay. Then the paper gives the errorbetween the predicted value and the actual value through experiments to verify the validity ofthe prediction algorithm. After that, it introduces the autonomous decision-making mechanismand implementations, and which researches a task allocation algorithm based on the resourcebenefits function, and combined with the predicted delay values given above to complete thetask allocation. This paper also makes a contrast experiment with the current most popularmethod of market mechanisms in the task completion rate, the average resource consumptionof task and so on, and analyzes the experiments results.Finally, The paper designs a algorithm to solve the alliance of robots and optimizes taskexecution queue. The alliance of robots is an issue that must be considered. Because theselection of robot alliance which directly impact on the consumption of resources and taskcompletion rate. Moreover, The optimization of task execution queue will shorten the time tocomplete all the tasks and improve system revenue.