通信距离约束下异构水下爬游机器人任务分配

Task Assignment of Heterogeneous Underwater Crawling Robots with Communication Distance Constraints

为了保证执行任务的水下爬游机器人之间时刻保持信息交互,提出了一种带通信距离约束的异构水下爬游机器人集群任务分配方法;首先,建立了异构水下爬游机器人集群的任务分配数学模型;其次,分析了多水下爬游机器人通信距离、航程等约束条件;最后,采用蚁群优化算法对异构水下爬游机器人集群的任务分配问题进行求解,在满足约束条件情况下实现了多爬游机器人总航行距离最短;仿真验证了该方法在通信距离约束下实现多水下爬游机器人任务分配的有效性。

In order to ensure the information exchange between underwater climbing robots,a task assignment method for heterogeneous underwater climbing robots with communication distance constraints was proposed.Firstly,the task assignment mathematical model of heterogeneous underwater crawling robot cluster is established.Secondly,constraints such as communication distance and voyage of multiple underwater crawling robots are analyzed.Finally,the ant colony optimization algorithm was used to solve the task assignment problem of heterogeneous underwater crawling robots,and the total sailing distance of multiple crawling robots was the shortest under the condition of satisfying the constraint conditions.Simulation results show that the proposed method is effective in task assignment of multiple underwater crawling robots under communication distance constraints.