Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

Da-qi ZHU; Yun QU; Simon X. YANG

doi:10.1631/FITEE.1800562

Your Location：

Home >

Browse articles >

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

Special Feature on Intelligent Robots | Updated：2022-05-19

- Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment
- 基于AUV初始方向角和海流环境的SOM任务分配算法
- Frontiers of Information Technology & Electronic Engineering Vol. 20, Issue 3, Pages: 330-341(2019)
- Affiliations：
  
  Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, China
  Advanced Robotics and Intelligent Systems Laboratory, University of Guelph, Guelph ON N1G2W1, Canada
- Author bio：
  
  Da-qi ZHU, E-mail: zdq367@aliyun.com
  [ "Simon X. YANG, E-mail: syang@uoguelph.ca" ]
- Funds：
- DOI：10.1631/FITEE.1800562
  CLC： TP249
- Received：18 September 2018，
  
  Revised：2019-;3-14，
  
  Published：2019-03
- Accepted：
Scan QR Code
Da-qi ZHU, Yun QU, Simon X. YANG. Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(3): 330-341.
DOI：

Da-qi ZHU, Yun QU, Simon X. YANG. Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(3): 330-341. DOI： 10.1631/FITEE.1800562.

摘要

实际水下环境存在海流。本文针对多自治机器人任务分配系统提出一个改进的自组织神经网络算法。该算法充分考虑自治水下机器人初始方向角和海流环境。每个自治水下机器人都参与竞争。选出实际航行路径最短的自治水下机器人作为获胜神经元，同时确保总航行路径最短。首先，初始化每个自治水下机器人的位置与方向角以及海流流速与方向。其次，通过竞争，选择海流环境下最短航行路径的水下机器人作为获胜神经元，并将该获胜神经元分配给相应目标点。为证明该算法有效性，给出相应仿真结果。

Abstract

There is an ocean current in the actual underwater working environment.An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles (AUVs) is proposed for a three-dimensional underwater workspace in the ocean current.Each AUV in the model will be competed

and the shortest path under an ocean current and different azimuths will be selected for task assignment and path planning while guaranteeing the least total consumption.First

the initial position and orientation of each AUV are determined.The velocity and azimuths of the constant ocean current are determined.Then the AUV task assignment problem in the constant ocean current environment is considered.The AUV that has the shortest path is selected for task assignment and path planning.Finally

to prove the effectiveness of the proposed method

simulation results are given.

关键词

Keywords

references

R Akkiraju , , , P Keskinocak , , , S Murthy , , , 等 . . An agent-based approach for scheduling multiple machines . . Appl Intell , , 2001 . . 14 ( ( 2 ): ): 135 - - 144 . . DOI: 10.1023/a:1008363208898 http://doi.org/10.1023/a:1008363208898 . .

X Cao , , , DQ Zhu . . Multi-AUV task assignment and path planning with ocean current based on biological inspired self-organizing map and velocity synthesis algorithm . . Intell Autom Soft Comput , , 2015 . . 23 ( ( 1 ): ): 31 - - 39 . . DOI: 10.1080/10798587.2015.1118277 http://doi.org/10.1080/10798587.2015.1118277 . .

M Elango , , , S Nachiappan , , , MK Tiwari . . Balancing task allocation in multi-robot systems using k -means clustering and auction based mechanisms . . Exp Syst Appl , , 2011 . . 38 ( ( 6 ): ): 6486 - - 6491 . . DOI: 10.1016/j.eswa.2010.11.097 http://doi.org/10.1016/j.eswa.2010.11.097 . .

M Erol , , , LFM Vieira , , , M Gerla . . AUV-aided localization for underwater sensor networks . . Proc Int Conf on Wireless Algorithms, Systems and Applications , , 2007 . . p.44 - - 54 . . DOI: 10.1109/WASA.2007.34 http://doi.org/10.1109/WASA.2007.34 . .

H Huang , , , DQ Zhu , , , F Yuan . . Dynamic task assignment and path planning for multi-AUV system in 2D variable ocean current environment . . Proc 24 th IEEE Chinese Control and Decision Conf , , 2012 . . p.3660 - - 3664 . . DOI: 10.1109/CCDC.2012.6243093 http://doi.org/10.1109/CCDC.2012.6243093 . .

H Huang , , , DQ Zhu , , , F Ding . . Dynamic task assignment and path planning for multi-AUV system in variable ocean current environment . . J Intell Rob Syst , , 2014 . . 74 ( ( 3-4 ): ): 999 - - 1012 . . DOI: 10.1007/s10846-013-9870-2 http://doi.org/10.1007/s10846-013-9870-2 . .

T Kohonen , , , S Kaski , , , K Lagus , , , 等 . . Self organization of a massive document collection . . IEEE Trans Neur Netw , , 2000 . . 11 ( ( 3 ): ): 574 - - 585 . . DOI: 10.1109/72.846729 http://doi.org/10.1109/72.846729 . .

NM Nouri , , , M Zeinali , , , Y Jahangardy . . AUV hull shape design based on desired pressure distribution . . J Mar Sci Technol , , 2016 . . 21 ( ( 2 ): ): 203 - - 215 . . DOI: 10.1007/s00773-015-0343-0 http://doi.org/10.1007/s00773-015-0343-0 . .

L Paull , , , S Saeedi , , , M Seto , , , 等 . . AUV navigation and localization: a review . . IEEE J Ocean Eng , , 2014 . . 39 ( ( 1 ): ): 131 - - 149 . . DOI: 10.1109/JOE.2013.2278891 http://doi.org/10.1109/JOE.2013.2278891 . .

S Redfield . . Cooperation between underwater vehicles . . In: Seto ML (Ed.), Marine Robot Autonomy. Springer, New York , , 2013 . . p.257 - - 286 . . DOI: 10.1007/978-1-4614-5659-9_6 http://doi.org/10.1007/978-1-4614-5659-9_6 . .

RN Smith , , , P Cooksey , , , F Py , , , 等 . . Adaptive path planning for tracking ocean fronts with an autonomous underwater vehicle . . Proc 14 th Int Symp on Experimental Robotics , , 2014 . . p.761 - - 775 . . DOI: 10.1007/978-3-319-23778-7_50 http://doi.org/10.1007/978-3-319-23778-7_50 . .

CC Sotzing , , , DM Lane . . Improving the coordination efficiency of limited-communication multi-autonomus underwater vehicle operations using a multiagent architecture . . J Field Rob , , 2010 . . 27 ( ( 4 ): ): 412 - - 429 . . DOI: 10.1002/rob.20340 http://doi.org/10.1002/rob.20340 . .

PB Sujit , , , R Beard . . Distributed sequential auctions for multiple UAV task allocation . . Proc American Control Conf , , 2007 . . p.3955 - - 3960 . . DOI: 10.1109/ACC.2007.4282558 http://doi.org/10.1109/ACC.2007.4282558 . .

PB Sujit , , , A Sinha , , , D Ghose . . Multi-UAV task allocation using team theory . . Proc 44 th IEEE Conf on Decision and Control , , 2005 . . p.1497 - - 1502 . . DOI: 10.1109/CDC.2005.1582370 http://doi.org/10.1109/CDC.2005.1582370 . .

Z Wang , , , XN Feng . . A cooperative simulation system for AUV based on multi-agent . . Proc Int Conf on Virtual Reality and Visualization , , 2011 . . p.109 - - 114 . . DOI: 10.1109/ICVRV.2011.48 http://doi.org/10.1109/ICVRV.2011.48 . .

L Yu , , , DQ Zhu . . Task assignment and path planning of AUV system based on Glasius bio-inspired self- organizing map neural network algorithm . . Syst Simul Technol , , 2017 . . 13 ( ( 3 ): ): 230 - - 234, 240 . . . .

SM Zadeh , , , DMW Powers , , , AM Yazdani . . A novel efficient task-assign route planning method for AUV guidance in a dynamic cluttered environment , , 2016 . . https://arxiv.org/abs/1604.02524 https://arxiv.org/abs/1604.02524 , , . .

A Zhu , , , SX Yang . . A neural network approach to dynamic task assignment of multirobots . . IEEE Trans Neur Netw , , 2006 . . 17 ( ( 5 ): ): 1278 - - 1287 . . DOI: 10.1109/tnn.2006.875994 http://doi.org/10.1109/tnn.2006.875994 . .

DQ Zhu , , , X Li , , , M Yan . . Task assignment algorithm of multi-AUV based on self-organizing map . . Contr Dec , , 2012 . . 27 ( ( 8 ): ): 1201 - - 1205, 1210 . . . .

DQ Zhu , , , H Huang , , , SX Yang . . Dynamic task assignment and path planning of multi-AUV system based on an improved self-organizing map and velocity synthesis method in three-dimensional underwater workspace . . IEEE Trans Cybern , , 2013 . . 43 ( ( 2 ): ): 504 - - 514 . . DOI: 10.1109/TSMCB.2012.2210212 http://doi.org/10.1109/TSMCB.2012.2210212 . .

DQ Zhu , , , X Cao , , , B Sun , , , 等 . . Biologically inspired self-organizing map applied to task assignment and path planning of an AUV system . . IEEE Trans Cogn Dev Syst , , 2018a . . 10 ( ( 2 ): ): 304 - - 313 . . DOI: 10.1109/TCDS.2017.2727678 http://doi.org/10.1109/TCDS.2017.2727678 . .

DQ Zhu , , , C Tian , , , B Sun , , , 等 . . Complete coverage path planning of autonomous underwater vehicle based on GBNN algorithm . . J Intell Rob Syst , , 2018b . . 94 ( ( 1 ): ): 237 - - 249 . . DOI: 10.1007/s10846-018-0787-7 http://doi.org/10.1007/s10846-018-0787-7 . .

DQ Zhu , , , Y Liu , , , B Sun . . Task assignment and path planning of a multi-AUV system based on a Glasius bio- inspired self-organising map algorithm . . J Navig , , 2018c . . 71 ( ( 2 ): ): 482 - - 496 . . DOI: 10.1017/S0373463317000728 http://doi.org/10.1017/S0373463317000728 . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰