Research On Multi AUV Cooperative Task Planning Based On Optimization Theory

Multi-AUV cooperative mission planning is a complex multi-constrained multi-objective optimization problem,mainly to meet the various constraints,the reasonable allocation of tasks to capable AUV.After assigning tasks,plan the course of each AUV's mission when performing missions in an unknown environment.The research on multi-AUV has become the focus of researchers.In this paper,the research on the pre-allocation of multi-AUV collaborative tasks,task redistribution,multi-AUV route planning and so on has been carried out in depth.The general framework for multi-AUV collaborative mission planning includes the following:First of all,introduce the basic theory of multi-objective optimization and AUV architecture,select the distributed multi-AUV architecture to design the overall system.Describing the relevant elements of mission planning and describing and modeling the multi-AUV collaborative mission planning provides a solid foundation for subsequent research.Secondly,the problem of multi-AUV coordination task assignment based on improved contract network optimization algorithm is studied.AUV is described in detail in the assignment of collaborative tasks.Combining with the constraints set forth in this paper and taking into account the changes of the task environment,taking AUV as an example,the task pre-distribution and its tasks based on the improved contract network optimization algorithm are studied.Redistribution technology.For the publication of bidding and the coexistence of multiple tenders,the introduction of task load indicators for improvement.The simulation results show that the improved algorithm is feasible,and can effectively improve the overall performance and make the AUV load carrying the overall task load becomes uniform.Third,the multi-AUV route planning problem based on the improved artificial potential field optimization algorithm is studied.As in unknown environments,detecting obstacles requires establishing an environment model for the AUV.The location of obstacles is random and may be more densely distributed.It is very likely that there will be a problem of target unreachable and local minima.Designing a new repulsion field function to improve the repulsion field function can solve the problem of unreachable.The introduction of arbitrary rotation angle can solve the local minimum problem.The above improvements not only solve the local minimum problem and the target unreachable problem at the same time,but also retain the original advantages of the artificial potential field algorithm.The simulation results show that the algorithm is feasible.Under the unknown environment,the improved artificial potential field optimization algorithm designed in this chapter is planned to be very smooth and safe to avoid obstacles.Finally,based on matlab GUI interface development,a simulation platform for multi-AUV collaborative mission planning simulation system is designed.On this platform,the simulation experiment of multi-AUV collaborative mission planning with heterogeneous configuration is carried out.The analysis shows that the two improved optimization algorithms apply the multi-AUV collaborative task planning,which has strong ability of optimization and validity.