Abstract The formation of multiple AUVs in a row during navigation can effectively improve energy efficiency and detection capability. Since it is difficult to assign multiple AUVs to form a row efficiently, the optimal assignment in operations research is innovatively used to solve this problem in this paper. However, due to the limited data processing capability of the AUV and its trajectory being disturbed by the current, the Hungarian method will take a long time to solve the optimal assignment. Therefore, a method of assigning multiple AUVs to form a row efficiently by processing the cost matrix is proposed. First, a cost matrix, consisting of the time cost for each AUV to reach different assigned positions, is generated. Second, the preprocessing and further processing are combined to increase the number of zeros in the generated cost matrix. Third, the space tree method considering the distribution of zeros is used to extract n independent zeros of different rows and different columns, which correspond to the optimal assignment. In order to verify the feasibility and effectiveness of the proposed method, simulations and experiments are performed to assign AUVs to form a row. The optimal assignment solved by the proposed method is more efficient than the Hungarian method in the simulations, and is accurate in the experiments. The above results show that the proposed method is feasible and effective.

中文翻译：

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基于处理成本矩阵的方法，分配多个AUV以高效地形成一行

摘要 多条AUV在导航过程中连续编队可以有效提高能效和探测能力。由于很难有效地分配多个AUV形成一行，因此本文创新性地采用运筹学中的最优分配来解决该问题。然而，由于AUV的数据处理能力有限，且其轨迹受电流干扰，匈牙利方法求解最优分配需要较长时间。因此，提出了一种通过处理成本矩阵来高效分配多个AUV形成一行的方法。首先，生成一个成本矩阵，由每个 AUV 到达不同指定位置的时间成本组成。其次，预处理和进一步处理相结合，以增加生成的成本矩阵中零的数量。第三，利用考虑零点分布的空间树法，提取出n个不同行、不同列的独立零点，对应最优分配。为了验证所提出方法的可行性和有效性，进行了模拟和实验以分配 AUV 以形成行。所提出的方法求解的最优分配在模拟中比匈牙利方法更有效，在实验中是准确的。以上结果表明所提出的方法是可行和有效的。执行模拟和实验以分配 AUV 以形成一行。所提出的方法求解的最优分配在模拟中比匈牙利方法更有效，在实验中是准确的。以上结果表明所提出的方法是可行和有效的。执行模拟和实验以分配 AUV 以形成一行。所提出的方法求解的最优分配在模拟中比匈牙利方法更有效，在实验中是准确的。以上结果表明所提出的方法是可行和有效的。