An Improved Reeds-Shepp and Distributed Auction Algorithm for Task Allocation in Multi-AUV System with Both Specific Positional and Directional Requirements

Task assignment is of paramount importance in multi-AUV systems, particularly in applications such as bridge inspection where task execution is direction-specific. In such scenarios, the underactuation of AUVs is a critical factor that cannot be ignored. Therefore, it is essential to consider the AUV's kinematic model comprehensively to ensure minimal energy consumption during task execution. In this paper, we introduce an improved Reeds-Shepp algorithm in conjunction with a distributed auction approach. We treat AUVs as car-like models in our approach, paying meticulous attention to their operational characteristics during path planning. Importantly, we effectively utilize their backward driving capabilities. Our analysis reveals that this model successfully fulfills the directional requirements of detection tasks. Furthermore, the distributed auction approach optimizes the overall task distribution in the multi-AUV system. We support our method with simulation results that underscore its effectiveness.