运动学约束条件下多AUV任务分配算法  

Task assignment for a multi-AUV system under kinematic constraint

作　　者：李欣[1] 朱大奇[1] 徐珂昂 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306

出　　处：《哈尔滨工程大学学报》2016年第12期1638-1644,共7页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51279098);上海市科委创新行动计划(14JC1402800;13510721400)

摘　　要：针对运动学约束的自治水下机器人(AUV)任务分配与路径规划问题,本文以多个AUV组成的系统为研究对象,将Dubins Path算法与改进的自组织映射(SOM)神经网络算法相结合,提出一种在运动学约束条件下多AUV任务分配与路径规划算法。通过SOM神经网络方法对多AUV进行任务分配后,若存在运动学约束或障碍物而导致无法进行Dubins路径规划时,则重新进行任务分配,直到所有目标点都有AUV到达。仿真结果表明该算法能够有效完成运动学约束条件下多AUV的任务分配。To solve the task assignment and path planning problems of a system with multiple autonomous under wa-ter vehicles （AUVs）, a multi-AUV task assignment algorithm under kinematic constraints is proposed, which com-bines the Dubins Path algorithm with an improved SOM（self-organizing map） neural network algorithm. The tasks were first assigned by the SOM neural network. If there were kinematic constraints or obstacles that led to the failure of Dubins path-planning, task re-assignment was implemented until the AUVs reached all the target points. Simula-tion results show that the algorithm can effectively accomplish task assignments for a multi-AUV system under kine-matic constraints.

关 键 词：自治水下机器人 多任务分配 路径规划 自组织映射 Dubins PATH 运动学约束 负载均衡 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]