Hybrid Algorithm Research Based on Improved Genetic Algorithm and Auction Algorithm for AUVs Task Allocation*

In Autonomous Underwater Vehicles (AUVs) systems, an effective task allocation is crucial for AUVs to complete tasks cooperatively. To address the problems of low solution efficiency in static task allocation algorithms and poor real-time performance in dynamic task allocation algorithms, we present a hybrid algorithm based on the improved genetic algorithm and the auction algorithm. Specifically, the auction algorithm is applied to solve the initial solution of task allocation, then the improved genetic algorithm is applied to solve the problem on this basis. The hybrid algorithm can effectively improve the solution efficiency of static task allocation. In particular, our presented algorithm can meet the demands of dynamic task allocation. Finally, simulation results confirm the effectiveness of the proposed algorithm.