Abstract
Multi-UUV collaboration is critical for ocean exploration missions. Aiming at the problem of underwater wreck coverage detection, this paper designs a task allocation method based on the biological balance principle and a path planning strategy for underwater target UUV area coverage detection suitable for near-seabed environment. Voronori principle is used to divide the core detection area where the crash target wreckage is located, and then the UUV task load is balanced by the biological balance principle. According to the actual situation analysis of underwater vehicle coverage detection in near-seabed environment, combined with the intelligent unit reliability q function, the path planning strategy of underwater vehicle area coverage detection underwater target is designed. Simulation results show that the proposed algorithm can achieve multi-UUV underwater target detection task region allocation and achieve the consistency of load balancing among UUV tasks.
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Lu, Y., Zhou, H., Fang, H., Zhao, Z. (2023). Multi-UUV Underwater Target Cooperative Detection Task Planning and Assignment. In: Pan, L., Zhao, D., Li, L., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2022. Communications in Computer and Information Science, vol 1801. Springer, Singapore. https://doi.org/10.1007/978-981-99-1549-1_38
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DOI: https://doi.org/10.1007/978-981-99-1549-1_38
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