Multi-AUV SOM Task Allocation Considering Initial Orientation of AUV

Abstract

Considering that the Autonomous Underwater Vehicles (AUVs) have different initial azimuths in two-dimensional plane, an improved self-organizing map model is put forward. Each AUV in the model is accessed. The AUV, which has the shortest path under kinematic constraints and different azimuths, is selected for task assignment. First, the initial orientation and initial position of each AUV are determined. Then, the method considers the different azimuths of AUV in the actual situation and selects the AUV which is the shortest route to the destination for task assignment. Finally, so as to certify the usefulness of the suggested algorithm, this paper gives simulation results.