Task assignment algorithm of multi-AUV based on self-organizing map

摘要

Aiming to the task assignment issue of multi-AUV(autonomous underwater vehicles) system,a self-organizing map(SOM) neural network based strategy of task assignment of multi-AUV and multi-objective is presented.Targets’ locations are set as input vectors of SOM neural network.Then self-organizing competitive calculations are carried out.Its output vectors are the corresponding AUV robots’ locations,so that a group of AUVs can be controlled to complete different tasks in different locations,and the robots can reach the designated targets in optimized paths.Simulation results in two-dimensional and three-dimensional working environments show the effectiveness of the proposed method.