多AUV智群协同作业可实现水下三维传感器网络移动数据采集，满足立体海洋大尺度与低延时监测的需求。项目研究障碍物环境的复杂水下三维空间内，如何优化AUV智群的任务均衡分配与平滑轨迹规划，实现对水下传感器网络数据的高效移动采集。项目构建基于多AUV动力学约束和三维空间拓扑特征的水下传感器网络移动数据采集模型，设计AUV覆盖区域内水下节点多跳路由传输模式，研究水下三维网络空间中多AUV智群任务调度方案、满足3D-G1/G2连续的全局优化路径规划方法、多AUV巡航路径冲突与水下多障碍物避碰机制等主要内容。项目利用群智能协同方法寻求优化方案，提出多AUV任务调度与路径规划联合优化模型、满足3D-G1/G2连续的多路径规划方法、综合多AUV访问冲突规避与水下障碍物躲避的组合避碰机制。项目拟采用NS-3网络仿真平台和实际水池测试进行方法验证，为三维水下传感网中多AUV集群高效数据收集提供一种合适的方案。

Collaborative teamwork by multi-AUV intelligent swarm can realize mobile data collecting for 3D underwater sensor networks, so as to meet the needs of large-scale and low-latency monitoring for three-dimensional oceans. In order to achieve efficient data gathering of underwater 3D sensor networks, cooperative teamwork allocation scheduling and smooth trajectory planning for AUV intelligent swarm in complicated underwater three-dimensional space with randomly distributed obstacles are optimized in this proposal. This proposal aims to establish a mobile data gathering model using multi-AUV group with such constraints as AUVs’ dynamics and three-dimensional topology characteristics of underwater sensor networks, and then designs multi-hop based transmission manner between underwater sensor nodes within AUV’s coverage area. The main topics of this proposal include complex task allocation and optimization mechanism, 3D-G1/G2 continuous path planning method, intelligent multi-AUV collision and multi-obstacle avoidance mechanism, and etc. Moreover, we will seek optimization mechanism based on swarm intelligence coordination method in this project. In a word, this project will propose multi-AUV task allocation and path planning optimization model, 3D-G1/G2 continuous path planning algorithm for underwater multi-AUV, combined and multidimensional obstacle avoidance mechanism considering inter-AUVs access conflict and underwater obstacles avoidance, so as to provide an appropriate solution for mobile data collection in three-dimensional underwater sensor networks using multi-AUV intelligent swarm. Finally, the performance of proposed algorithms will be verified with NS-3 simulation paltform and practical test in water tank.