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Open AccessArticle by Guoqing Xia , Xianxin Sun * and Xiaoming Xia College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China * Author to whom correspondence should be addressed. Academic Editor: Alessandro Ridolfi Received: 4 May 2022 / Revised: 15 June 2022 / Accepted: 15 June 2022 / Published: 17 June 2022 (This article belongs to the Section Ocean Engineering) View Full-Text Download PDF Citation Export BibTeX EndNote RIS Cite This Paper
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2.1. Problem Description A multiple USV system is a complex system. In much of the literature, path planning is combined into SOM to provide multi-task allocation and path planning at the same time. This method is feasible in theory, but not in practice, because path planning is a very time-consuming algorithm. In this case, multiple task assignment and path planning are executed in the same program, which will run slowly.
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