Multi-AUV Kinematic Task Assignment based on Self-organizing Map Neural Network and Dubins Path Generator

TL;DR

This paper presents a novel task assignment method for multi-AUV systems that combines improved Self-organizing Map neural networks with Dubins path generation to handle kinematic constraints and obstacles effectively.

Contribution

It introduces an integrated algorithm that adapts task assignment and path planning for underactuated AUVs with kinematic constraints, improving upon existing methods.

Findings

Effective task assignment under kinematic constraints

Successful path planning with Dubins paths in simulations

Enhanced workload balance among AUVs

Abstract

To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed combining the Dubins Path algorithm with improved SOM neural network algorithm. At first, the aimed tasks are assigned to the AUVs by improved SOM neural network method based on workload balance and neighborhood function. When there exists kinematic constraints or obstacles which may cause failure of trajectory planning, task re-assignment will be implemented by change the weights of SOM neurals, until the AUVs can have paths to reach all the targets. Then, the Dubins paths are generated in several limited cases. AUV's yaw angle is limited, which result in new assignments to the targets. Computation flow is designed so that the algorithm in MATLAB and Python can realizes the path planning to multiple targets. Finally, simulation results prove that the proposed algorithm can effectively accomplish the task assignment task for multi-AUV system.