SIA OpenIR  > 水下机器人研究室
Constrained Multi-objective Task Assignment for UUVs using Multiple Ant Colonies System
Xu ZZ(许真珍); Li YP(李一平); Feng XS(封锡盛)
Department水下机器人研究室
Conference NameInternational Colloquium on Computing, Communication, Control, and Management
Conference DateAugust 4-5, 2008
Conference PlaceGuangzhou, China
Author of SourceIEEE Technol Management Council, IEEE Comp Soc, IEEE, Guangdong Univ Business Studies, Peoples Friendship Univ Russia, Univ Amsterdam, Cent S Univ, Wuhan Inst Technol, Intelligent Informat Technol Applicat Res Inst, Engn Technol Press
Source Publication2008 ISECS INTERNATIONAL COLLOQUIUM ON COMPUTING, COMMUNICATION, CONTROL, AND MANAGEMENT, VOL 1, PROCEEDINGS
PublisherIEEE COMPUTER SOC
Publication PlaceLOS ALAMITOS
2008
Pages462-466
Indexed ByEI ; CPCI(ISTP)
EI Accession number20084311659227
WOS IDWOS:000260246600097
Contribution Rank1
ISBN978-0-7695-3290-5
AbstractThe purpose of this research is to develop an effective task assignment algorithm for multiple Unmanned Underwater Vehicles (UUVs) to reacquaint multiple targets. This algorithm is specifically designed for the underwater environment where vehicles typically have dissimilar starting and ending locations. Besides the objective of minimizing the total distance of multiple vehicles, the objectives of minimizing the total turning angle and the constraint of balancing the targets number visited by each vehicle are also considered. This problem is modeled as a constrained multi-objective MTSP. The different measurement units and order of magnitudes of multiple objectives significantly increase the difficulty to generate an effective solution. The proposed algorithm consists of two phases: task number assignment and task assignment using Multiple Ant Colony System (MACS) which is extended from the classical Ant Colony System (ACS). In the first phase, the target number is assigned to each vehicle. Afterwards, MACS is used to solve constrained multi-objective MTSP, in which multiple ant colonies work separately to optimize dissimilar objectives, the ideal solution is generated according to the result of each colony, and the output is the best solution which has the smallest deviation from the ideal solution in the set of Pareto optimal solutions. The computational results show that the output of the proposed algorithm can satisfy the constrained multi-objective requirement and can be applied to underwater application scenario.
Language英语
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7804
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, Liaoning Province, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Xu ZZ,Li YP,Feng XS. Constrained Multi-objective Task Assignment for UUVs using Multiple Ant Colonies System[C]//IEEE Technol Management Council, IEEE Comp Soc, IEEE, Guangdong Univ Business Studies, Peoples Friendship Univ Russia, Univ Amsterdam, Cent S Univ, Wuhan Inst Technol, Intelligent Informat Technol Applicat Res Inst, Engn Technol Press. LOS ALAMITOS:IEEE COMPUTER SOC,2008:462-466.
Files in This Item:
File Name/Size DocType Version Access License
HYQW000381.pdf(339KB)会议论文 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Xu ZZ(许真珍)]'s Articles
[Li YP(李一平)]'s Articles
[Feng XS(封锡盛)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Xu ZZ(许真珍)]'s Articles
[Li YP(李一平)]'s Articles
[Feng XS(封锡盛)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Xu ZZ(许真珍)]'s Articles
[Li YP(李一平)]'s Articles
[Feng XS(封锡盛)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: HYQW000381.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.