MISSION RE-PLANNING FOR COORDINATED MULTIVEHICLE TASK ALLOCATION

摘要

PROBLEM TO BE SOLVED: To provide a system for mission re-planning of a robotic vehicle in area search.SOLUTION: Vehicles are monitored in real time, and an incapacitated vehicle from among the vehicles that performs an incomplete task is detected. A remaining coverage setting comprising a remaining coverage area for each of the vehicles is determined. A travel distance from a task completion location of each of the vehicles to a stopped point of the incapacitated vehicle is calculated to provide a travel distance setting. An extra coverage setting is determined based on the travel distance setting and the remaining coverage setting, and an incomplete coverage area for the incomplete task is calculated. The extra coverage setting is compared to the incomplete coverage area and the remaining coverage area to provide a sufficiency list, and an assigned vehicle is selected from the vehicles on the basis of the sufficiency list.