Cooperative operations of Unmanned Underwater Vehicles (UUVs) have extensive applications in fields such as marine exploration, ecological observation, and subsea security. Path planning, as a key technology for UUV autonomous navigation, is crucial for enhancing the adaptability and mission execution efficiency of UUVs in complicated marine environments. However, existing methods still have significant room for improvement in handling obstacles, multi-task coordination, and other complex problems. In order to overcome these issues, we put forward a task allocation and path planning method for UUVs. First, we introduce a task allocation mechanism based on an Improved Grey Wolf Algorithm (IGWA). This mechanism comprehensively considers factors such as target value, distance, and UUV capability constraints to achieve efficient and reasonable task allocation among UUVs. To enhance the search efficiency and accuracy of task allocation, a Circle chaotic mapping strategy is incorporated into the traditional GWA to improve population diversity. Additionally, a differential evolution mechanism is integrated to enhance local search capabilities, effectively mitigating premature convergence issues. Second, an improved RRT* algorithm termed GR-RRT* is employed for UUV path planning. By designing a guidance strategy, the sampling probability near target points follows a two-dimensional Gaussian distribution, ensuring obstacle avoidance safety while reducing redundant sampling and improving planning efficiency. Experimental results demonstrate that the proposed task allocation mechanism and improved path planning algorithm exhibit significant advantages in task completion rate and path optimization efficiency.
Task Allocation and Path Planning Method for Unmanned Underwater Vehicles
2025
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Metadata by DOAJ is licensed under CC BY-SA 1.0
Task Allocation and Saturation Attack Approach for Unmanned Underwater Vehicles
DOAJ | 2025
|Cooperative path planning and task assignment for unmanned air vehicles
Tema Archiv | 2010
|Cooperative path planning and task assignment for unmanned air vehicles
SAGE Publications | 2010
|Cooperative path planning and task assignment for unmanned air vehicles
Online Contents | 2010
|Cooperative Task Allocation for Heterogeneous Unmanned Delivery Vehicles
Springer Verlag | 2024
|