Heterogeneous UUV cluster task allocation algorithm based on PPO
The Assignment problem problem of the UUV cluster is one of the important problems for the formation of the underwater function of the UUV cluster.However,due to the communication and detection capabilities,UUV can only obtain limited information underwater and cannot be used well.A task allocation algorithm based on deep reinforcement learning is proposed.Aiming at the problem of lack of underwater information and scarce rewards,the Curiosity module is added on the basis of the near end strategy optimization algorithm,giving agents an expectation to reduce the uncertainty in the environment,encouraging UUV to explore the unpredictable part of the environment,and realizing the optimal task alloc-ation of UUV clusters.The final simulation experiment shows that compared to traditional intelligent algorithms,it con-verges faster and has stronger reliability.
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