基于AUV初始方向角和海流环境的SOM任务分配算法

朱大奇; 曲韵; 杨先一

doi:10.1631/FITEE.1800562

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基于AUV初始方向角和海流环境的SOM任务分配算法

智能机器人专题 | Updated：2022-05-19

- 基于AUV初始方向角和海流环境的SOM任务分配算法
- Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment
- 信息与电子工程前沿（英文） 2019年20卷第3期页码：330-341
- 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：
  
  Project supported by the National Natural Science Foundation of China (Nos.U1706224, 91748117, and 51575336) and the Creative Activity Plan for Science and Technology Commission of Shanghai, China (Nos.18JC1413000, 18DZ1206305, and 16550720200)
- DOI：10.1631/FITEE.1800562
  中图分类号： TP249
- 收稿：2018-09-18，
  
  修回：2019-;3-14，
  
  纸质出版：2019-03
- Accepted：
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朱大奇, 曲韵, 杨先一. 基于AUV初始方向角和海流环境的SOM任务分配算法[J]. 信息与电子工程前沿（英文）, 2019,20(3):330-341.

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.
朱大奇, 曲韵, 杨先一. 基于AUV初始方向角和海流环境的SOM任务分配算法[J]. 信息与电子工程前沿（英文）, 2019,20(3):330-341. DOI： 10.1631/FITEE.1800562.

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.

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references

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