Task assignment method for unmanned surface vessel formation based on optimal transport theory
The task assignment method for a large group of unmanned surface vessel (USV) is an important research problem in the field of autonomous unmanned system. Appropriate task assignment schemes will facilitate USV formation for quick decision making and efficient execution. Existing methods rarely take...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Command Control and Simulation
2024-12-01
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| Series: | Zhihui kongzhi yu fangzhen |
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| Online Access: | https://www.zhkzyfz.cn/fileup/1673-3819/PDF/1732684246613-406139673.pdf |
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| author | XUE Min, QUAN Chongren, HU Zhengyang, WANG Yong |
| author_facet | XUE Min, QUAN Chongren, HU Zhengyang, WANG Yong |
| author_sort | XUE Min, QUAN Chongren, HU Zhengyang, WANG Yong |
| collection | DOAJ |
| description | The task assignment method for a large group of unmanned surface vessel (USV) is an important research problem in the field of autonomous unmanned system. Appropriate task assignment schemes will facilitate USV formation for quick decision making and efficient execution. Existing methods rarely take the attitude of USVs and their dynamic equations into considerations. This article first established a model of attitude-based task assignment problem for USV formation; next, by linking the model to the optimal transport problem on the manifold, we obtained its discrete form; finally, our simulation experiment demonstrates the necessity of considering attitude-based task assignment problem for USV formation, and the effectiveness of the method proposed in this paper. |
| format | Article |
| id | doaj-art-f820e0ea54504c8abc53c165bb060f22 |
| institution | OA Journals |
| issn | 1673-3819 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Editorial Office of Command Control and Simulation |
| record_format | Article |
| series | Zhihui kongzhi yu fangzhen |
| spelling | doaj-art-f820e0ea54504c8abc53c165bb060f222025-08-20T01:52:45ZzhoEditorial Office of Command Control and SimulationZhihui kongzhi yu fangzhen1673-38192024-12-01466929510.3969/j.issn.1673-3819.2024.06.015Task assignment method for unmanned surface vessel formation based on optimal transport theoryXUE Min, QUAN Chongren, HU Zhengyang, WANG Yong01 Naval Equipment Department, Beijing 100036, China;2 Jiangsu Automation Research Institute, Lianyungang 222061, ChinaThe task assignment method for a large group of unmanned surface vessel (USV) is an important research problem in the field of autonomous unmanned system. Appropriate task assignment schemes will facilitate USV formation for quick decision making and efficient execution. Existing methods rarely take the attitude of USVs and their dynamic equations into considerations. This article first established a model of attitude-based task assignment problem for USV formation; next, by linking the model to the optimal transport problem on the manifold, we obtained its discrete form; finally, our simulation experiment demonstrates the necessity of considering attitude-based task assignment problem for USV formation, and the effectiveness of the method proposed in this paper.https://www.zhkzyfz.cn/fileup/1673-3819/PDF/1732684246613-406139673.pdfoptimal transport|unmanned surface vessel formation|task assignment |
| spellingShingle | XUE Min, QUAN Chongren, HU Zhengyang, WANG Yong Task assignment method for unmanned surface vessel formation based on optimal transport theory Zhihui kongzhi yu fangzhen optimal transport|unmanned surface vessel formation|task assignment |
| title | Task assignment method for unmanned surface vessel formation based on optimal transport theory |
| title_full | Task assignment method for unmanned surface vessel formation based on optimal transport theory |
| title_fullStr | Task assignment method for unmanned surface vessel formation based on optimal transport theory |
| title_full_unstemmed | Task assignment method for unmanned surface vessel formation based on optimal transport theory |
| title_short | Task assignment method for unmanned surface vessel formation based on optimal transport theory |
| title_sort | task assignment method for unmanned surface vessel formation based on optimal transport theory |
| topic | optimal transport|unmanned surface vessel formation|task assignment |
| url | https://www.zhkzyfz.cn/fileup/1673-3819/PDF/1732684246613-406139673.pdf |
| work_keys_str_mv | AT xueminquanchongrenhuzhengyangwangyong taskassignmentmethodforunmannedsurfacevesselformationbasedonoptimaltransporttheory |