Dynamic task allocation method and system for multiple unmanned ships

• Main Authors: LUO QINGHUA, WU DI, ZHOU ZHIQUAN, WANG CHENXU, ZHANG LIQI, YAN XIAOZHEN, JIA GUANGLE
• Format: Patent
• Language: Chinese; English
• Published: 03.11.2023
• Subjects: CALCULATING; COMPUTING; COUNTING; DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES; PHYSICS; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR

The invention provides a multi-unmanned-ship dynamic task allocation method and system, and belongs to the field of multi-unmanned-ship task allocation. The problems that a cost function of a traditional CBBA algorithm only comprises calculation of time cost, a task allocation scheme which does not meet constraint requirements can be obtained in a time window constraint environment, and therefore the dynamic task reallocation problem under complex time window constraints is long in voyage and low in task completion degree are solved. The method comprises the following steps: establishing a task initial allocation model, processing a newly added task, performing task construction according to a distance reward and punishment factor, updating a task sequence according to time window constraint, then performing a conflict resolution process, and finally judging whether the unmanned ships reach a consensus or not. An optimal task cluster, a distance reward and punishment factor and a task package updating process