Intelligent Collaborative Task Allocation Algorithm Research On Mulit-AUVs

The Autonomous Underwater Vehicle(AUV)can finish the dangerous task in the deep-sea instead of human.Because of the low cost and high intelligence,AUVs are more and more used in marine exploration,resource exploitation and applications in military and the others.Through multiple AUVs to cooperate with each other,realize the groups work together,greatly improving the efficiency of the AUV.This paper aimed at more intelligent multi-AUVs task allocation technology,conducted a more in-depth discussion of the AUV task allocation problem,a mathematic model of the multiple AUV task allocation system,a detailed analysis of the basic Particle Swarm optimization Algorithm(PSO),and combined with Genetic Algorithm(GA)in the selection,crossover and mutation operator of the improved Particle Swarm optimization Algorithm(PSGO).By using two kinds of intelligent allocation algorithm combining multiple AUV task allocation model simulation platform is constructed and the simulation experiment was performed.Through the comparison of the experimental simulation results of two algorithms,the superiority of PSGO is verified.First based on the problems AUV facing in the practical work,the multiple AUV task allocation system architecture is detailed elaborated,each variable of the AUV task allocation system and task allocation model are designed,and the mathematical model of AUV task allocation system is given.Second detailed introduces the basic principle of particle swarm optimization algorithm,steps and various parameters,and combined with multiple AUV task allocation model in this paper multiple AUV task allocation system is designed.And the multiple AUV task allocation based on PSO experiment simulation platform is built based on the MATLAB program.The simulation results show that the PSO can well solve the problem of multiple AUV task allocation.Then for the defect of PSO,PSGO is designed based on the selection,crossover and mutation of GA.There gives the mathematical formulas of improved selection,crossover and mutation operator,as well as the steps,processes of PSGO.The AUV task allocation simulation platform is built based on MATLAB platform,and it has realized the simulation of multiple AUV task allocation system of PSGO.The results show that PSGO can satisfy the requirement of AUV task allocation system.Finally through comparing the simulation results of PSO and PSGO,the results show that the PSGO not only has the advantages of simple implementation,high computational efficiency of the PSO,also optimizes the precocious resistance and group convergence of PSO.