Abstract
Because the factually turning radius of the Autonomous Underwater Vehicle (AUV) will affect the task allocation of multi-AUV system, the optimized SOM algorithm is proposed in this paper. The aim of the optimized SOM algorithm is giving the reasonable allocated scheme for corresponding tasks. Due to the existence of the invalid task allocation, there are two problems in the traditional self-organizing map (SOM) algorithm. One problem is wasting more time for calculating the winning neuron. Another is causing more energy consumption because the farther AUV is allocated to the corresponding target. The optimized algorithm is proposed to solve the problem of the invalid task allocation. In order to demonstrate the effectiveness of the proposed algorithm, this paper gives simulation results.
This project is supported by the National Natural Science Foundation of China (51575336, 91748117) the Creative Activity Plan for Science and Technology Commission of Shanghai (16550720200, 18JC1413000, 18DZ1206305).
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Qu, Y., Zhu, D., Chen, M. (2019). Optimized SOM Algorithm to Solve Problem of Invalid Task Allocation. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_20
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DOI: https://doi.org/10.1007/978-3-030-27535-8_20
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