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提出一种集中式多AUV集群猎雷的任务协调算法,将雷区分解为若干平行的猎雷航线任务,并将这些航线任务分配给各个猎雷AUV执行,当猎雷AUV探测到水雷并在灭雷过程中损失后,未探测区域将作为一个新的航线任务分配给完成当前猎雷航线的AUV,直至全部猎雷航线任务完成。仿真研究表明在部分AUV损失的情况下,通过该任务协调算法,生存AUV的猎雷范围能够覆盖整个雷区。
This paper proposes a task coordination algorithm for centralized multi-AUV cluster mine hunting, which decomposes the minefield into several parallel mine hunting missions and allocates these missions to all mine hunting AUVs. When the mine hunting AUV detects the mine and at After the mine is deactivated, the unexplored area will be assigned as a new route assignment to the AUV completing the current mine hunting route until all mine hunting routes have been completed. The simulation results show that the surviving AUV hunting range can cover the whole minefield through the task coordination algorithm under some AUV losses.