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Simulation study demonstrates an integrated task allocation and path planning framework for autonomous underwater vehicles, indicating stable and efficient waterway detection.
A novel method for task planning in the context of waterway detection by multiple unmanned underwater vehicles (UUVs) is proposed. In this method, the slime mould algorithm is employed for the purpose of task allocation to the UUVs. Delaunay triangulation is employed to construct the task topology, thereby ensuring the traversal of the paths and reducing the computational pressure for subsequent path planning. The Dijkstra algorithm is utilized in the algorithm iteration to facilitate the planning of specific paths. The efficacy of the proposed method was demonstrated by subjecting the task planning method to simulation experiments, the results of which indicated that the proposed method is optimal, stable, and efficacious.
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Yan et al. (2025) studied this question.
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