Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

  • Da-qi ZhuEmail author
  • Yun Qu
  • Simon X. Yang


There is an ocean current in the actual underwater working environment. An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles (AUVs) is proposed for a three-dimensional underwater workspace in the ocean current. Each AUV in the model will be competed, and the shortest path under an ocean current and different azimuths will be selected for task assignment and path planning while guaranteeing the least total consumption. First, the initial position and orientation of each AUV are determined. The velocity and azimuths of the constant ocean current are determined. Then the AUV task assignment problem in the constant ocean current environment is considered. The AUV that has the shortest path is selected for task assignment and path planning. Finally, to prove the effectiveness of the proposed method, simulation results are given.

Key words

Autonomous underwater vehicles Self-organizing neural networks Azimuths Ocean current 

CLC number



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We would like to thank Dr. Bing SUN for discussion.


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Copyright information

© Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Laboratory of Underwater Vehicles and Intelligent SystemsShanghai Maritime UniversityShanghaiChina
  2. 2.Advanced Robotics and Intelligent Systems LaboratoryUniversity of GuelphGuelphCanada

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