Task allocation approach for underwater gliders in complex underwater missions

This paper proposes an Genetic Algorithm(GA)-based task allocation approach for heterogenous underwater gliders in complex underwater search and detection missions. First of all, the mathematical model of the underwater glider task allocation problem is formulated while considering motion characteristics of underwater gliders and different task requirements. Next, one novel task allocation approach for underwater gliders is then proposed based on the genetic algorithm in detail. Finally, simulation experiments are conducted on an underwater glider task allocation problem, and the experiment results show the effectiveness of the proposed GA-based task allocation approach in this paper.