时序约束下多自主水下航行器多点访问任务分配方法研究

批准号:
62003217
项目类别:
青年科学基金项目
资助金额:
24.0 万元
负责人:
白小山
依托单位:
学科分类:
机器人学与智能系统
结题年份:
2023
批准年份:
2020
项目状态:
已结题
项目参与者:
白小山
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中文摘要
利用自主水下航行器AUV高效访问海区中多个目标位置,在海洋探测与开发、海上灾后营救、海区监视、水下探雷与布雷等民用和军用领域中,具有重要理论研究意义和巨大工程应用价值。本项目围绕利用AUV高效访问多个目标位置的工程需求,探索时序约束下多AUV多点访问任务分配问题的时间复杂度和高效任务分配算法两个关键问题。首先,基于图论中计算复杂性理论,结合现有非确定性多项式困难问题,分析时序约束下多AUV多点访问任务分配问题的时间复杂度,为任务分配算法设计提供理论支撑;其次,基于图论中最小生成树等工具,获取时序约束下多AUV多点访问任务分配问题最优解下界,为评估任务分配算法性能提供新思路;最后,基于时序约束下对单个机器人规划任务的拓扑排序机制,探索时序约束下可以构造多AUV多点访问任务分配可行解的拓扑排序机制,继而设计任务分配算法在可行解空间内对AUV高效分配任务。研究成果对海洋保护与开发有重要促进作用。
英文摘要
Employing multiple Autonomous Underwater Vehicle (AUV) to efficiently visit a set of target positions is of great value in theoretical study and engineering application, which can be used for various civil and military applications, such as ocean exploration and development, ocean surveillance, underwater mine detection and deployment. To meet the application requirement to employ AUVs to efficiently visit a set of target locations, this project focuses on investigating the time complexity for optimally solving the precedence-constrained multi-AUV multi-target visiting problem, and designing efficient task assignment algorithms. First, based on the computational complexity theory in Graph Theory, this project will analyze the time complexity for optimally solving the precedence-constrained multi-AUV multi-target visiting problem in the combination of the existing NP-hard problems, which provides theoretical guidance for designing task assignment algorithms. Second, according to the minimum spanning tree in Graph Theory, achieving a lower bound on the optimal solution to the precedence-constrained multi-AUV multi-target visiting problem, which is a novel idea to evaluate the performance of a task assignment algorithm. Finally, based on the topology sorting technique used for the precedence-constrained single robot task planning, this project will design the topology sorting technique that can obtain feasible assignment solutions to the precedence-constrained multi-AUV multi-target visiting problem, and then construct task assignment algorithms to efficiently assign tasks to AUVs in the feasible solution space. The study of this project will improve the protection and development of the ocean environment.
期刊论文列表
专著列表
科研奖励列表
会议论文列表
专利列表
DOI:10.1109/tcsii.2021.3057107
发表时间:2021-08-01
期刊:IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
影响因子:4.4
作者:Khan, Awais;Bai, Xiaoshan;Yan, Peiguang
通讯作者:Yan, Peiguang
DOI:10.1109/tits.2023.3287163
发表时间:2023-11
期刊:IEEE Transactions on Intelligent Transportation Systems
影响因子:8.5
作者:Xiaoshan Bai;Youqiang Ye;Bo Zhang;S. Ge
通讯作者:Xiaoshan Bai;Youqiang Ye;Bo Zhang;S. Ge
DOI:10.3390/s22145217
发表时间:2022-07-12
期刊:Sensors (Basel, Switzerland)
影响因子:--
作者:
通讯作者:
DOI:10.1109/tsmc.2021.3094190
发表时间:2022
期刊:IEEE Transactions on Systems, Man, and Cybernetics: Systems
影响因子:--
作者:Xiaoshan Bai;Weisheng Yan;Shuzhi Sam Ge
通讯作者:Shuzhi Sam Ge
DOI:10.1109/jiot.2020.3025797
发表时间:2021-03
期刊:IEEE Internet of Things Journal
影响因子:10.6
作者:Xiaoshan Bai;Weisheng Yan;S. Ge
通讯作者:Xiaoshan Bai;Weisheng Yan;S. Ge
时序约束下多卡车多无人机协同包裹投递任务分配方法研究
- 批准号:--
- 项目类别:省市级项目
- 资助金额:15.0万元
- 批准年份:2024
- 负责人:白小山
- 依托单位:
复杂时序约束下多水面船多AUV协同多点访问任务分配方法研究
- 批准号:62373255
- 项目类别:面上项目
- 资助金额:50万元
- 批准年份:2023
- 负责人:白小山
- 依托单位:
国内基金
海外基金
