Abstract
Efficient task allocation for Unmanned Surface Vehicles (USVs) in maritime operations is crucial for optimal resource utilization and mission success. This paper introduces a task assignment model that accounts for the capabilities and time constraints associated with the heterogeneity of USVs. An Extended-Restriction Multiple Traveling Salesmen Problem (ER-MTSP) model is formulated, encapsulating the diverse capabilities of USVs and time restrictions. To solve this problem, a Fuzzy Enhanced Non-Dominated Sorting Genetic Algorithm (FENSGA-II) is developed, incorporating adaptive random testing initialization and customized hierarchical operators to generate high-quality Pareto frontiers. The fuzzy-linguistic satisfactory degree then re-evaluates the linguistic importance preferences of the objectives within the Pareto set, aiding in reasonable decision-making. Additionally, a two-phase refinement strategy balances individual task values and structure topology, enabling flexible task selection in emergency situations. Simulations and lake trials conducted across various problem variants demonstrate the effectiveness of the model. The results highlight the superiority of our approach compared to current combinatorial optimization methods, providing enhanced solutions across different problem variations.
Published Version
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