Research On Task Allocation Method For Multiple USVs Cooperation Control

Unmanned Surface Vehicle(USV)as a carrier of the sea,has become an important means of warfare at sea to complete tasks.With the increasing complexity of the combat environment,combat missions are increasingly diverse,the need of a single USV carrying out mission is getting smaller and smaller,and the need of the multi-type tasks of USV is bigger and bigger.Compared with the mode of a single USV for warfare,the multi-type tasks need be completed by different types of USV.In order to better use of the multi-type USV,improve the combat effectiveness of USV,the task allocation of multiple USV is studied in this paper.With the background of the tasks performed by USV at the sea,the minimum of time and consumption voyage for completing the tasks of USV as the goal,the different types of tasks assigned to different USV,make USV complete overall efficiency to achieve the optimal.In this paper,the works are as follows:First of all,this paper introduce the concept and sorts of the cooperative control for USV,the model of cooperative task allocation is set up.According to the characteristics of USV for the complex environment,analysis the influence of various factors for USV,in the condition of meeting the task sequence and task time constraints.Though the analysis of the total voyage,the total numbers of task for USV completing the tasks,I summarize the evaluation index for the task allocation of USV.Secondly,this paper put the division mechanism of ant colony algorithm into solving the task allocation of USV.The division mechanism of ant colony algorithm is established.Different ant subgroups are corresponding to different USVs,each ant subgroup finding the shortest path is corresponding to USVs making the plan of task allocation.Through each ant remaining the pheromone on the each path,to achieve the cooperation of tasks indirect.Using artificial can make the algorithm has better ability to search the solution.Simulation experiments show that the division mechanism of ant colony algorithm can solve collaborative task allocation of USV availably.Finally,this paper study the division mechanism of ant colony algorithm solving the task allocation of USV in the cooperation control deeply,and improve from two aspects.On the one hand is the improvement of algorithm,in order to solve the phenomenon of local optimum,the way of pheromone update is improved,and limit the maximum and minimum of the pheromone.On the other hand is the improvement of problem model.The same type of tasks at different places is distinguished by priority.The relationship is added to the model in the simulation,as possible to meet this kind of relationship and must meet the constraint of time.The simulation experiment shows the improved division mechanism of ant colony algorithm can get better task allocation plan.