A Novel Algorithm of Multi-AUVs Task Assignment and Path Planning Based on Biologically Inspired Neural Network Map

Autor:	Bei Zhou, Daqi Zhu, Simon X. Yang
Rok vydání:	2021
Předmět:	Control and Optimization Hotspot (Wi-Fi) Artificial neural network Discretization Artificial Intelligence Computer science Automotive Engineering Grid reference Task analysis Motion planning Resource management (computing) Algorithm Task (project management)
Zdroj:	IEEE Transactions on Intelligent Vehicles. 6:333-342
ISSN:	2379-8904 2379-8858
DOI:	10.1109/tiv.2020.3029369
Popis:	The task assignment and path planning of a multi-AUVs system has now attracted considerable attention and become a hotspot in the research. In this paper, a novel algorithm of multi-AUVs task assignment and path planning based on Biologically Inspired Neural Network Map (BINN) is proposed. Firstly, the grid map is built by discretizing the three-dimensional underwater environment into many equal grids. Secondly, the activity values of all AUVs in the BINN maps of each target are calculated. Then, the AUV with the highest activity value in the BINN map of the target is selected as the winning AUV for the target. Finally, the winning AUV performs path planning according to the BINN strategy. Through the simulation experiment, it is proved that the novel BINN algorithm proposed in this paper can effectively and reasonably distribute multi-AUVs and reduce the overall sailing distance.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8b791af8d3cc1874f25c16063c349601 https://doi.org/10.1109/tiv.2020.3029369 Zobrazit plný text záznamu