4.5 Article

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

Journal

Publisher

ZHEJIANG UNIV
DOI: 10.1631/FITEE.1800562

Keywords

Autonomous underwater vehicles; Self-organizing neural networks; Azimuths; Ocean current

Funding

  1. National Natural Science Foundation of China [U1706224, 91748117, 51575336]
  2. Creative Activity Plan for Science and Technology Commission of Shanghai, China [18JC1413000, 18DZ1206305, 16550720200]

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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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