一种资源约束下的AUV编队系统动态任务规划方法

动态任务规划是协调复杂环境、自主水下航行器（AUV）有限资源以及动态任务之间耦合,提高编队协同能力的关键技术。针对资源约束下的AUV编队系统动态任务规划问题,提出了一种基于不公平度的资源均衡方法,兼顾资源均衡和效能最大2个目标,建立了基于合同网的多约束多目标任务规划数学模型,基于着色Petri网实现了系统的形式化建模/仿真/验证一体化。仿真结果表明,该方法能够有效地解决以效能最大为目标的资源选择原则导致的优者负载过重和以平均执行任务数为核心的负载平衡算法带来的任务等待时间延长问题,提高了系统的效能。

A Dynamic Mission Planning Method for AUV Formation with Resource Constraint

Dynamic mission planning is a key technology for coordinating the coupling among complex environment,autonomous underwater vehicle（AUV） with limited resources, and dynamic tasks to maximize the synergism of the members in AUV formation. This paper aims to propose a distributed mission planning algorithm for the AUV formation that undergoes resource constraint and operates in an unknown dynamic environment. The resource inequality function is employed, and a novel resource balance-based allocation algorithm is proposed. In combination with the objective function of efficiency maximum, a contract net-based mathematical model of multi-objective optimization with multiple constraints is established. Then, the integration of formal modeling, simulation and validation is presented based on Colored Petri Nets to analyze the logic, grammar, structure and properties of a mission planning system. Simulation results show that this method can avoid the overload on the winner caused by the rule of seeking efficiency maximum,and the longer waiting time caused by load balancing strategies, thus better performance is achieved.