A Novel Multi-Robot Task Allocation Model in Marine Plastics Cleaning Based on Replicator Dynamics

摘要

As marine plastic pollution threatens the marine ecosystem seriously, the government needs to find an effective way to clean marine plastics. Due to the advantages of easy operation and high efficiency, autonomous underwater vehicles (AUVs) have been applied to clean marine plastics. As for the large-scale marine environment, the marine plastic cleaning task needs to be accomplished through the collaborative work of multiple AUVs. Assigning the cleaning task to each AUV reasonably and effectively has an essential impact on improving cleaning efficiency. The coordination of AUVs is subjected to harsh communication conditions. Therefore, to release the dependence on the underwater communications among AUVs, proposing a reliable multi-robot task allocation (MRTA) model is necessary. Inspired by the evolutionary game theory, this paper proposes a novel multi-robot task allocation (MRTA) model based on replicator dynamics for marine plastic cleaning. This novel model not only satisfies the minimization of the cost function, but also reaches a relatively stable state of the task allocation. A novel optimization algorithm, equilibrium optimizer (EO), is adopted as the optimizer. The simulation results validate the correctness of the results achieved by EO and the applicability of the proposed model. At last, several valuable conclusions are obtained from the simulations on the three different assumed AUVs.