...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>The Journal of Navigation >Task Assignment and Path Planning of a Multi-AUV System Based on a Glasius Bio-Inspired Self-Organising Map Algorithm
【24h】

Task Assignment and Path Planning of a Multi-AUV System Based on a Glasius Bio-Inspired Self-Organising Map Algorithm

机译：基于Glasius生物启发自组织映射算法的多AUV系统的任务分配和路径规划

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

For multi-Autonomous Underwater Vehicle (multi-AUV) system task assignment and path planning, a novel Glasius Bio-inspired Self-Organising Map (GBSOM) neural networks algorithm is proposed to solve relevant problems in a Three-Dimensional (3D) grid map. Firstly, a 3D Glasius Bio-inspired Neural Network (GBNN) model is established to represent the 3D underwater working environment. Using this model, the strength of neural activity is calculated at each node within the GBNN. Secondly, a Self-Organising Map (SOM) neural network is used to assign the targets to a set of AUVs and determine the order of the AUVs to access the target point. Finally, according to the magnitude of the neuron activity in the GBNN, the next AUV target point can be autonomously planned when the task assignment is completed. By repeating the above three steps, access to all target points is completed. Simulation and comparison studies are presented to demonstrate that the proposed algorithm can overcome the speed jump problem of SOM algorithms and path planning in the 3D underwater environments with static or dynamic obstacles.
机译：针对多水下机器人系统的任务分配和路径规划，提出了一种新颖的格拉苏斯生物启发式自组织图（GBSOM）神经网络算法来解决三维（3D）网格图中的相关问题。 。首先，建立了代表3D水下工作环境的3D Glasius生物启发神经网络（GBNN）模型。使用该模型，可以在GBNN内的每个节点上计算神经活动的强度。其次，使用自组织映射（SOM）神经网络将目标分配给一组AUV，并确定AUV访问目标点的顺序。最后，根据GBNN中神经元活动的大小，当任务分配完成时，可以自动计划下一个AUV目标点。通过重复上述三个步骤，可以完成对所有目标点的访问。仿真和比较研究表明，该算法可以克服具有静态或动态障碍的3D水下环境中SOM算法的速度跳跃问题和路径规划。

著录项

  • 来源
    《The Journal of Navigation》 |2018年第2期|482-496|共15页
  • 作者

    Zhu Daqi; Liu Yu; Sun Bing;

  • 作者单位

    Shanghai Maritime Univ, Lab Underwater Vehicles & Intelligent Syst, Haigang Ave 1550, Shanghai 201306, Peoples R China;

    Shanghai Maritime Univ, Lab Underwater Vehicles & Intelligent Syst, Haigang Ave 1550, Shanghai 201306, Peoples R China;

    Shanghai Maritime Univ, Lab Underwater Vehicles & Intelligent Syst, Haigang Ave 1550, Shanghai 201306, Peoples R China;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Multi-AUV System; GBNN; SOM; Task assignment; Path planning;

    机译：多AUV系统;GBNN;SOM;任务分配;路径规划;

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号