COMPUTER SCIENCE, COMPUTER ENGINEERING AND CONTROL
Sakharov A.M., Tuphanov I.E.
ANDREI M. SAKHAROV, Scientific Researcher, Laboratory for Unmanned Underwater Vehicles and Their Systems, Sub-Department of Automation and Control, School of Engineering, Far Eastern Federal University. E-mail: andrrocks@gmail.com
IGOR E.TUPHANOV, Scientific Researcher, Laboratory for Unmanned Underwater Vehicles and Their Systems, Sub-Department of Automation and Control, Far Eastern Federal University. E-mail: ituphanov@gmail.com
Development of the Methods of AUV Group Planning Based on Version Model
The article deals with planning group operations of autonomous underwater vehicle (AUV) while carrying out a mission. A corresponding task of optimization was set when planning the mission and all the ways of its solution were considered. The entire time of executing the mission was taken as criterion of optimization. In the course of the work, a planning model was employed which assumes the mission to be decomposed into a number of independent tasks. It takes into consideration the actual positions of the AUV and variants to perform the tasks. Each variant for every task incorporates start point, finish point, and the execution time. Investigated are the centralised and collective methods of assigning the tasks. For the collective planning method, the comparison between the algorithm based on the auction method and that of pair exchange was performed. The approach that has been put forward ensures control over the execution of the plan and its correction if the number of vehicles or that of the tasks changes in the course of the execution of mission. Presented are certain results of the modelling of the operation of the algorithms.
Key words: group of AUV, group behavior, planning of operation, plan optimization.
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