Task Allocation Method for Multiple Unmanned Marine Vehicles Cooperative Formation

The cluster operation of unmanned marine vehicle (UMV) has become an important trend in the future with the development of marine industry. Nevertheless, the existing methods have several problems such as delayed task allocation, slow convergence and tendency to fall into local optimization. Therefore, a new task allocation method is proposed to control oil pollution, which closely combines the tour planning process with the task allocation process. Firstly, Hungarian Algorithm (HA) is used to establish Multi-UMV cost matrix. Secondly, Ant Colony Optimization (ACO) is used to solve the tour planning problems. Finally, it is feasible to get the result of the shortest closed-loop itinerant path. The simulation results show that the total track length is reduced by 15.13%, and the average running time is reduced by 46.57%, which can be used to improve the rationality of task allocation.