Research On Mission Planning Method Of UUV Swarm To Multi-area Terrain Survey

In recent years, mission planning for complex mission plays an important manifestation in the autonomous ability of Unmanned Underwater Vehicle (UUV), and it has become a key technology in this area. In this paper, it is aimed at the requirements for UUV swarm to multi-area terrain survey, lucubrates related technologies of the swarm mission planning, as follows:group system architecture design of UUV swarm, scientific definition of the complex mission, method of mission decomposition, method of task allocation strategy and operations for spatio-temporal task sequence planning methods.,and so on.UUV swarm collaboration based on the organic integration between individual and group system architecture. A hierarchical architecture for UUV swarm is designed depending on requirement for UUV swarm's mission case.The mission of UUV swarm to multi-area terrain survey is defined with XML language. The scientific description has many advantages, such as explicit meaning, clear logical relationship of mission data propitiously to machine recognition.According to the requirement for mission operation of multi-area terrain survey in large-scale sea area, the idea of cluster problem solving is proposed, and the method of swarm mission decomposition is designed based on ant system. Swarm mission is divided into task groups for individual, so it is good for allocating specific task to isomorphic UUV individual and reducing the complex degree of task allocation.Task planning is automatically generated reasonable and effective operational time sequence and spatial sequence for UUV individual. Those sequences are foundation and prerequisite for UUV autonomous implementation and control the process of mission operation. In this research, HTN planning is proposed for the UUV lane planning and operation time sequence planning method is proposed based on genetic algorithm, the simulation results are also given.In this paper, a mission case of typically multi-area terrain survey is designed and mission planning for UUV swarm is simulated in the Matlab platform. Simulation results shows that the proposed method and strategy can effectively solve the problem of mission planning for UUV swarm.