Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations

Wang, Gening; Zhang, Wenlong; Ding, Kailun; Zhu, Jiuteng; Zhou, Youxuan; Li, Wenhong

doi:10.3390/app16094525

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Open AccessArticle

Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations

by

Gening Wang

,

Wenlong Zhang

,

Kailun Ding

,

Jiuteng Zhu

,

Youxuan Zhou

and

Wenhong Li

^*

College of Ocean Science, Shandong University of Science and Technology, Qingdao 266590, China

^*

Author to whom correspondence should be addressed.

Appl. Sci. 2026, 16(9), 4525; https://doi.org/10.3390/app16094525

Submission received: 19 March 2026 / Revised: 27 April 2026 / Accepted: 27 April 2026 / Published: 4 May 2026

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Abstract

This study proposes an integrated task–path cooperative optimization method to address the suboptimal solutions caused by decoupled task allocation and path planning for grouped multi-USV formations. First, an integrated optimization model is established within a hierarchical dynamic closed-loop framework, incorporating a persistent ocean current disturbance of 0.12 m/s to ensure practical environmental realism. Furthermore, efficient solution algorithms are developed: an enhanced Hungarian algorithm for task allocation and a Sine Cosine Algorithm-optimized Artificial Potential Field (SCA-APF) method to resolve local minima. The simulation results demonstrate that the proposed method reduces the weighted total cost by 11.1% and improves task allocation efficiency by over 80.5% compared to improved genetic algorithms. In dynamic environments, the framework achieves an over 99% task completion rate. Crucially, the system maintains real-time responsiveness with per-step computation times below 0.1 s even for a swarm size of N = 32, proving its scalability and suitability for large-scale maritime coordination.

Keywords: Unmanned surface vehicles (USVs); cooperative optimization; Multi-USV formation; task allocation; path planning; sine cosine algorithm; incremental re-optimization

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MDPI and ACS Style

Wang, G.; Zhang, W.; Ding, K.; Zhu, J.; Zhou, Y.; Li, W. Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations. Appl. Sci. 2026, 16, 4525. https://doi.org/10.3390/app16094525

AMA Style

Wang G, Zhang W, Ding K, Zhu J, Zhou Y, Li W. Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations. Applied Sciences. 2026; 16(9):4525. https://doi.org/10.3390/app16094525

Chicago/Turabian Style

Wang, Gening, Wenlong Zhang, Kailun Ding, Jiuteng Zhu, Youxuan Zhou, and Wenhong Li. 2026. "Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations" Applied Sciences 16, no. 9: 4525. https://doi.org/10.3390/app16094525

APA Style

Wang, G., Zhang, W., Ding, K., Zhu, J., Zhou, Y., & Li, W. (2026). Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations. Applied Sciences, 16(9), 4525. https://doi.org/10.3390/app16094525

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Task-Coordinated Path Optimization for Grouped Unmanned Surface Vehicle Formations

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