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Sensors 2017, 17(7), 1607; https://doi.org/10.3390/s17071607

Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves

1
School of Electronics & Information, Hangzhou Dianzi University, Hangzhou 310018, China
2
School of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018, China
3
Department of Electrical & Computer Engineering, Missouri University of Science and Technology, Rolla, MO 65409, USA
The work ofWenyu Cai and Meiyan Zhang was performed during their one-year visit to Missouri University of Science and Technology in 2016.
*
Authors to whom correspondence should be addressed.
Received: 1 March 2017 / Revised: 22 June 2017 / Accepted: 6 July 2017 / Published: 11 July 2017
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Abstract

This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem. View Full-Text
Keywords: target tracking; task assignment; multiple AUVs; energy balance; genetic algorithm target tracking; task assignment; multiple AUVs; energy balance; genetic algorithm
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Cai, W.; Zhang, M.; Zheng, Y.R. Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves . Sensors 2017, 17, 1607.

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