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.


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    Title :

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


    Contributors:
    Zhu, Daqi (author) / Zhou, Bei (author) / Yang, Simon X. (author)

    Published in:

    Publication date :

    2021-06-01


    Size :

    2464934 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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