Multi-AUV cooperative task allocation based on improved contract network

This paper studies multi-AUV cooperation as the research object, aiming at the problems that the traditional contract network has low overall efficiency, unreasonable distribution and coexistence of multiple tenders, a multi-AUV target allocation strategy based on improved contract network is proposed. This paper introduces the token ring network can improve the efficiency of AUV internal communication and solve the coexistence of multiple tenders, the introduction of task load rate indicators to solve the problem of unreasonable allocation of tasks. The combination of the two can effectively improve the overall efficiency. The simulation experiment in the three-dimensional environment shows that the improved contract network can improve the overall efficiency and make reasonable allocation scheme.