面向多目标优化的多AUV群体协同任务分配

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.