• 中国科技核心期刊
  • JST收录期刊
Volume 25 Issue 新刊5
 
Turn off MathJax
Article Contents
Article Navigation >  Journal of Unmanned Undersea Systems  > 2017  >  25(新刊5): 418-423
LI Juan, ZHANG Kun-yu. Heterogeneous Multi-AUV Cooperative Task Allocation Based on Improved Contract Net Algorithm[J]. Journal of Unmanned Undersea Systems, 2017, 25(新刊5): 418-423. doi: 10.11993/j.issn.2096-3920.2017.05.004
Citation: LI Juan, ZHANG Kun-yu. Heterogeneous Multi-AUV Cooperative Task Allocation Based on Improved Contract Net Algorithm[J]. Journal of Unmanned Undersea Systems, 2017, 25(新刊5): 418-423. doi: 10.11993/j.issn.2096-3920.2017.05.004
shu

Heterogeneous Multi-AUV Cooperative Task Allocation Based on Improved Contract Net Algorithm

doi: 10.11993/j.issn.2096-3920.2017.05.004

  • College of Automation, Harbin Engineering University, Harbin 150001, China

  • Received Date: 2017-05-13
  • Rev Recd Date: 2017-06-08
  • Publish Date: 2017-12-20
    Abstract
  • When traditional contract net algorithm is applied to heterogeneous multi-AUV collaborative task allocation, co-existence of a variety of bid inviters occurs in bid winning process, leading to difficulty for producing effective inviter, while in bidding process, potential bidders raise the number of invalid bids, and hence increase burden on the inviter for evaluating the bid, which is easy to result in unreasonable tasks. Aiming at the above two problems, this paper proposes a heterogeneous multi-AUV task allocation strategy based on improved contract net algorithm. This strategy combines the task load rate and the token ring network to solve the problems of selecting bid inviter and its unreasonable task. Three-dimensional environment simulation based on MATLAB shows that the improved contract net algorithm can effectively enhance the overall performance and make reasonable task allocation scheme for task allocation of heterogeneous multi-AUV.

     

    • FullText(HTML)
  • loading
    • References(18)
  • [1]
    Choudhury B B, Biswal B B. Alternative Methods for Multi-robot Task Allocation[J]. Journal of Advanced Manufacturing Systems, 2011, 8(2): 163-176.
    [2]
    赵敏. 分布式多类型无人机协同任务分配研究及仿真[D]. 南京: 南京理工大学, 2009.
    [3]
    Shima T, Rasmussen S J, Sparks A G, et al. Multiple Task Assignments for Cooperating Uninhabited Aerial Vehicles Using Genetic Algorithms[J]. Computers & Operations Research, 2006, 33(11): 3252-3269.
    [4]
    寇英信, 王琳, 周中良. 多目标攻击条件下作战任务分配模型研究[J]. 系统仿真学报, 2008, 20(16): 4408- 4411.

    Kou Ying-xin, Wang Lin, Zhou Zhong-liang. Study of Combat Task Allocation Model in Multi-target Attack Condition[J]. Journal of System Simulation, 2008, 20(16) : 4408-4411.
    [5]
    李炜, 张伟. 基于粒子群算法的多无人机任务分配方法[J]. 控制与决策, 2010, 25(9): 1359-1363.

    Li Wei, Zhang Wei. Method of Tasks Allocation of Multi-UAVs Based on Particles Swarm Optimization[J]. Control and Decision, 2010, 25(9): 1359-1363.
    [6]
    Nedjah N, Mendonc R M D, Mourelle L D M. PSO-based Distributed Algorithm for Dynamic Task Allocation in a Robotic Swarm[J]. Procedia Computer Science, 2015, 51(1): 326-335.
    [7]
    Polat K, Güne? S. A New Method to Forecast of Escherichia Coli Promoter Gene Sequences: Integrating Feature Selection and Fuzzy-AIRS Classifier System[J]. Expert Systems with Applications, 2009, 36(1): 57-64.
    [8]
    Owliya M, Saadat M, Jules G G, et al. Agent-Based Interaction Protocols and Topologies for Manufacturing Task Allocation[J]. IEEE Transactions on Systems Man & Cybernetics Systems, 2010, 43(1): 38-52.
    [9]
    Kim S K, Russell J S. Framework for an Intelligent Earthwork System: Part II. Task Identification/schedu- ling and Resource Allocation Methodology[J]. Automa- tion in Construction, 2003, 12(1): 15-27.
    [10]
    Hayano M, Dai H, Sugawara T. Role and Member Selection in Team Formation Using Resource Estimation for Large-scale Multi-agent Systems[J]. Elsevier Science Publishers B. V., 2014 , 146(C): 164-172.
    [11]
    Gerkey B P, Mataric M J. Sold!: Auction Methods for Multi Robot Coordination[J]. IEEE Transactions on Robotics and Automation, Special Issue on Multi-Robot Systems, 2002, 18(5): 758-768.
    [12]
    李新亮, 翟江涛, 戴跃伟. 动态环境下基于改进合同网的多Agent任务分配算法[J]. 科学技术与工程, 2013, 13(27): 1671-1815.

    Li Xin-liang, Zhai Jiang-tao, Dai Yue-wei. A Task Allocation Algorithm Base on Improved Contract Net Protocol under the Dynamic Environment[J]. Science Technology and Engineering, 2013, 13(27): 1671-1815.
    [13]
    Smith R G. Thecntract Net Protocol High Level Communication and Control in Distributed Problem Solver[J]. IEEE Transaction on Computers, 1980, 29(12): 1104-1113.
    [14]
    邸斌, 周锐, 丁全心. 多无人机分布式协同异构任务分配[J]. 控制与决策, 2013, 28(2): 274-278.

    Di Bin, Zhou Rui, Ding Quan-xin. Distributed Coordin- ated Heterogeneous Task Allocation for Unmanned Aerial Vehicles[J]. Control and Decision, 2013, 28(2): 274- 278.
    [15]
    钱艳平, 夏洁, 刘天宇. 基于合同网的无人机协同目标分配方法[J]. 系统仿真学报, 2011, 23(8): 1672-1676.

    Qian Yan-ping, Xia Jie, Liu Tian-yu. Task Assignment Scheme Based on Contract Net[J]. Journal of System Simulation, 2011, 23(8): 1672-1676.
    [16]
    Ponda S S, Johnson L B, How J P. Distributed Chance-constrained Task Allocation for Autonomous Multiagent Teams[C]//American Control Conference. Piscataway. USA: IEEE, 2012.
    [17]
    Liang H, Kang F. A Novel Task Optimal Allocation Approach Based on Contract Net Protocol for Agentoriented UUV Swarm System Modeling[J]. Optik-International Journal for Light and Electron Optics, 2016, 127(8): 3928- 3933.
    [18]
    Valentinis F, Donaire A, Perez T. Energy-based Guidance of an Underactuated Unmanned Underwater Vehicle on A Helical Trajectory[J]. Control Engineering Practice, 2015, 44(13): 138-156.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article Views(619) PDF Downloads(412) Cited by()
    Proportional views
    Related
    Service
    Subscribe
    Copyright：陕ICP备09015163号Address:No. 96, Jinye Road, Xi'an, Shaanxi
    Code：710077Tel: 029-88327279QQ: 767358370
    Email: bianjibu705@sohu.com 767358370@qq.com
    Email Alert RSS
    Taobao
    Micro

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return