An Exact Algorithm for Task Allocation of Multiple Unmanned Surface Vehicles with Minimum Task Time

Task allocation of unmanned surface vehicles (USVs) with low task cost is an important research area which assigns USVs from starting points to different target complete tasks. Most the lines are using heuristic algorithms obtain suboptimal solutions reduce both max and total cost. In practice, reducing maximum more time, departure last USV arriving at designated position. this paper, exact algorithm proposed minimize time based on Hungarian algorithm. algorithm, composed travel along planned path turning initial points. The fast marching square method (FMS) used plan obstacle avoidance. effectiveness practicability verified by comparing it (HA), auction (AA), genetic (GA) ant colony optimization (ACO). results planning displayed in simulation.