Research On Ships Collaborative Multiple Task Planning Method

With the development of industry,the types of ships are becoming more diverse and the tasks of ships are becoming more and more complex.In order to give full play to the advantages of the ship and to maintain a good coordination between the complexity of the task and the ship's ability,it is necessary to study the ship's coordinated multi-task planning problem.In this thesis,the ship collaborative multi-task planning is taken as the research object,and the task allocation model,task allocation algorithm and path planning are studied.The task allocation model mainly studies three aspects: multi-task theory,mathematical representation of ship collaborative task allocation problem and task allocation plan evaluation criteria.By studying the multi-task theory and combining the characteristics of the ship,the ship cooperative multi-task allocation problem is expressed as a five-tuple,and each part of the five-tuple is described in detail.Then,a comprehensive evaluation index based on task execution time,ship sailing distance and total fuel consumption of the ship is proposed.This indicator can dynamically judge the pros and cons of different task allocation schemes.The task allocation algorithm uses the genetic ant colony hybrid algorithm to solve the task allocation problem.First,the idea of ant colony algorithm is used to establish the initial population to ensure the diversity of the population.Then,a task-based chromosome coding method is proposed,so that each chromosome corresponds to a feasible task allocation plan.Finally,the cross-operation and mutation operations are constrained so that the evolved chromosomes still meet the ship's ability constraints.Path planning is to generate a feasible planned route for the ship after obtaining the task allocation plan.In this thesis,the global path planning based on electronic chart is adopted.Firstly,the electronic chart data is analyzed and the environment model is established.Then the optimal path is searched by the improved A* algorithm.Finally,the obtained jagged path is optimized to obtain a relatively smooth feasible path.The simulation results show that the proposed task planning method can obtain the optimal task allocation scheme and ship navigation route under the premise of meeting the mission requirements.