Task assignment modeling and simulation for cooperative driving of multiple vessels

The task assignment problem for multiple vessels cooperative driving is the key problem of the multiple vessels cooperative control. Due to the system showing multi-objective, multi-tasking and multi-constrained features, a cooperative multi-task assignment model is proposed, which can transform multiple constraints task assignment problem into multiple constraints optimization problem based on the multiple vessels task assignment cost function. This method optimizes the results of task assignment by using genetic ant colony hybrid algorithm to search optimization solution globally. In the simulation experiment, it is compared with the genetic algorithm and the ant colony algorithm alone, and experimental results show that the method can optimize task assignment on the basis of satisfying these constraints.