Multi-UUV task assignment strategy based on 0-1 integer planning
Yu Liu, Lei Wang, Youjun Sun · 2023
To solve the task assignment problem of multiple underwater unmanned vehicles, a 0-1 integer programming method for solving the task assignment problem is proposed based on an in-depth analysis of the task assignment characteristics of multiple underwater unmanned vehicles. According to the demand of task assignment, a non-standard form of task assignment model is established on the basis of standard integer programming which is more in line with reality; the constraints are formalized and specific constraint functions are obtained by arguing and analyzing the position and state information of the underwater unmanned vehicle; according to the actual demand of different working conditions, the objective functions are designed to meet the reality of each working condition. The experimental results show that the model can effectively and quickly solve the task assignment problem of multiple underwater unmanned vehicles.