Improved Genetic Algorithm-Based Task Assignment Algorithm of Cooperative Patrol for Manned/Unmanned Surface Vehicles

To solve the collaborative task planning problem of manned/unmanned surface vehicles (MSV/USV), a task planning model of MSV/USV is proposed, the organic integration of MSV/USV task planning in the task planning algorithm and the function division of task decision makers are realized at the same time. On this basis, an MSV/USV task allocation algorithm based on a genetic algorithm is proposed. The algorithm adopts a dual population genetic structure, and proposes information contrast crossover and mutation operators to increase the searchability of the algorithm. The experiment shows that the algorithm can effectively optimize the MSV/USV task allocation results and improve task allocation efficiency.