Task assignment for a multi-AUV system under kinematic constraint

被引：0
|
作者：
Li X. [1 ]
Zhu D. [1 ]
Xu K. [1 ]
机构：
[1] Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai
来源：
Zhu, Daqi (zdq367@aliyun.com) | 1638年 / Editorial Board of Journal of Harbin Engineering卷 / 37期
关键词：
Autonomous underwater vehicles(AUV); Dubins Path; Kinematical constraints; Multi-task assignment; Path planning; Self-organizing map; Workload balance;
D O I：
10.11990/jheu.201510019
中图分类号：
学科分类号：
摘要：
To solve the task assignment and path planning problems of a system with multiple autonomous underwater vehicles (AUVs), a multi-AUV task assignment algorithm under kinematic constraints is proposed, which combines the Dubins Path algorithm with an improved SOM(self-organizing map) neural network algorithm. The tasks were first assigned by the SOM neural network. If there were kinematic constraints or obstacles that led to the failure of Dubins path-planning, task re-assignment was implemented until the AUVs reached all the target points. Simulation results show that the algorithm can effectively accomplish task assignments for a multi-AUV system under kinematic constraints. © 2016, Editorial Department of Journal of HEU. All right reserved.
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页码：1638 / 1644
页数：6
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