Dynamic Task Assignment and Path Planning for Multi-AUV System in 2D Variable Ocean Current Environment

摘要：

An improved self-organizing map-based approach is proposed for multiple autonomous underwater vehicle (multi-AUV) system to complete the allocation of targets and path planning in the paper. Each target is to be visited by one and only one AUV, and a shortest path between a starting point and the destination for each AUV in the presence of the variable current environment is to be found. Firstly, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 2-D ocean environment. Then, the velocity synthesis approach is applied to plan a shortest path for each AUV to visit the corresponding target in dynamic environment subject to the ocean current being variable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

关键词： multi-AUV System self-organizing map dynamic task assignment velocity synthesis time-varying current

作者: Huan Huang Daqi Zhu Fang Yuan

作者单位: Laboratory Of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University,Haigang Aven Laboratory Of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Haigang Ave

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 3677-3681

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）