Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network
Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV) missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for th...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/483095 |
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| author | Yueyue Deng Pierre-Philippe J. Beaujean Edgar An Edward Carlson |
| author_facet | Yueyue Deng Pierre-Philippe J. Beaujean Edgar An Edward Carlson |
| author_sort | Yueyue Deng |
| collection | DOAJ |
| description | Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV) missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF) algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP) mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available. |
| format | Article |
| id | doaj-art-48b7d418aa9547f2b5ee2c6be4f68d82 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-48b7d418aa9547f2b5ee2c6be4f68d822025-08-20T03:36:47ZengWileyJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/483095483095Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic NetworkYueyue Deng0Pierre-Philippe J. Beaujean1Edgar An2Edward Carlson3Department of Ocean and Mechanical Engineering, Florida Atlantic University, 777 Glades Road, Boca Raton, FL 33431, USADepartment of Ocean and Mechanical Engineering, Florida Atlantic University, 777 Glades Road, Boca Raton, FL 33431, USADepartment of Ocean and Mechanical Engineering, Florida Atlantic University, 777 Glades Road, Boca Raton, FL 33431, USADepartment of Ocean and Mechanical Engineering, Florida Atlantic University, 777 Glades Road, Boca Raton, FL 33431, USADynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV) missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF) algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP) mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.http://dx.doi.org/10.1155/2013/483095 |
| spellingShingle | Yueyue Deng Pierre-Philippe J. Beaujean Edgar An Edward Carlson Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network Journal of Robotics |
| title | Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network |
| title_full | Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network |
| title_fullStr | Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network |
| title_full_unstemmed | Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network |
| title_short | Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network |
| title_sort | task allocation and path planning for collaborative autonomous underwater vehicles operating through an underwater acoustic network |
| url | http://dx.doi.org/10.1155/2013/483095 |
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