Task Allocation of Multiple Autonomous Underwater Vehicle System Based on Multi-objective Optimization
首发时间:2012-09-14
Abstract:When executing a complex mission, the multi-AUV system need to confirm a better task allocation scheme to make sure that the system is efficient. However, there are many standards which are utilized to determine the system's efficient, and there maybe confliction between them. In order to solve the task allocation of multi-AUV system based on multi-objective optimization, a multi-objective optimization based on ant system algorithm was proposed. By the single-objective optimization in single ant system and the interaction between different ants systems, this algorithm achieve the Pareto solution's set at last. On the other hand, an algorithm evaluation method was given out to evaluate the performance of the algorithm above. Based on this algorithm, the task allocation of multi-AUV system based on multi-objective optimization was studied in details and the stimulation of task allocation was provided.
keywords: task allocation multi-AUV system cooperative work multi-object optimization ant system algorithm
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面向多目标优化的多AUV群体协同任务分配
摘要:多AUV群体协同完成复杂使命时,需要确定较好的任务分配方案以达到系统作业效率最高的目的,然而用来判定系统作业效率的评价指标往往存在冲突。为了解决面向多目标优化的任务分配问题,提出了一种基于多蚁群的多目标优化算法,通过单个蚁群的独立优化和多个蚁群的相互作用获得多目标优化问题的Pareto解集,并对该算法做出了性能评价。以这种算法为基础,对面向多目标优化的多AUVs群体协同任务分配问题进行了研究,并给仿真结果。
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