Research on the Method of Capturing Task Allocation Based on Energy Balance

With the constant research on the anti-capture strategy of Autonomous Underwater Vehicles(AUVs), it is more and more difficult for the AUVs to hunt motion. To this end, a multi-layer annular ambush capture model to improve the success rate of arrest. Based on the multi-layer annular ambush capture model, task-based mission assignment based on different characteristics of heterogeneous AUVs carrying energy is carried out. This distribution method enables heterogeneous AUVs to make full use of their own features better completion of the task. At the same time, considering the problem of uneven energy consumption in the system over time, an energy balance method is proposed to balance the energy consumption of the system. The method not only prolongs the life of the entire system and realizes the system running process dynamic task assignment. Experiments show that the method effectively improves the success rate of arrest and system life.