Constrained Multi-objective Task Assignment for UUVs using Multiple Ant Colonies System

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Constrained Multi-objective Task Assignment for UUVs using Multiple Ant Colonies System
	Xu ZZ(许真珍); Li YP(李一平); Feng XS(封锡盛)
	2008
会议名称	International Colloquium on Computing, Communication, Control, and Management
会议日期	August 4-5, 2008
会议地点	Guangzhou, China
页码	462-466
中文摘要	The purpose of this research is to develop an effective task assignment algorithm for multiple Unmanned Underwater Vehicles (UUVs) to reacquaint multiple targets. This algorithm is specifically designed for the underwater environment where vehicles typically have dissimilar starting and ending locations. Besides the objective of minimizing the total distance of multiple vehicles, the objectives of minimizing the total turning angle and the constraint of balancing the targets number visited by each vehicle are also considered. This problem is modeled as a constrained multi-objective MTSP. The different measurement units and order of magnitudes of multiple objectives significantly increase the difficulty to generate an effective solution. The proposed algorithm consists of two phases: task number assignment and task assignment using Multiple Ant Colony System (MACS) which is extended from the classical Ant Colony System (ACS). In the first phase, the target number is assigned to each vehicle. Afterwards, MACS is used to solve constrained multi-objective MTSP, in which multiple ant colonies work separately to optimize dissimilar objectives, the ideal solution is generated according to the result of each colony, and the output is the best solution which has the smallest deviation from the ideal solution in the set of Pareto optimal solutions. The computational results show that the output of the proposed algorithm can satisfy the constrained multi-objective requirement and can be applied to underwater application scenario.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Technol Management Council, IEEE Comp Soc, IEEE, Guangdong Univ Business Studies, Peoples Friendship Univ Russia, Univ Amsterdam, Cent S Univ, Wuhan Inst Technol, Intelligent Informat Technol Applicat Res Inst, Engn Technol Press
会议录	2008 ISECS INTERNATIONAL COLLOQUIUM ON COMPUTING, COMMUNICATION, CONTROL, AND MANAGEMENT, VOL 1, PROCEEDINGS
会议录出版者	IEEE COMPUTER SOC
会议录出版地	LOS ALAMITOS
语种	英语
ISBN号	978-0-7695-3290-5
WOS记录号	WOS:000260246600097
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7804]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Xu ZZ,Li YP,Feng XS. Constrained Multi-objective Task Assignment for UUVs using Multiple Ant Colonies System[C]. 见:International Colloquium on Computing, Communication, Control, and Management. Guangzhou, China. August 4-5, 2008.