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The Application of Multiple Ant Colony Algorithm to Cooperative Task Allocation in UUVs Swarm

A task assignment method based on multi-ant colony optimization algorithm is proposed in this paper. Firstly, based on the distributed multi-UUVs system and the advantages of traditional ant colony algorithm, the improved multi-ant colony optimization algorithm is established. Then, with the combination of state transition probability and ant colonies assigned according to the optimization index, the nondominated solution set is obtained. Finally, the ultimate task allocation plan is determined through the setting weight coefficient. The simulation results show the feasibility and effectiveness of this algorithm in the UUVs swarm assignment.