Energy-saving task assignment for robotic fish sensor network based on artificial fish swarm algorithm

Task assignment is one of the essential steps to enhance the cooperation of robotic fish sensor network effectively. Meanwhile, reasonable task assignment also improves the lifetime of the whole network due to the fact that robotic fish are battery-operated. Therefore, a new energy-saving task assignment method is proposed based on artificial fish swarm algorithm. First, the modeling of energy consumption of robotic fish is built up, and then the cost function of task assignment is proposed, which is combined with the modeling of energy consumption of robotic fish and meet requirements and constrains of a set of tasks. Second, artificial fish swarm algorithm, inspired by social behavior of fish, is used to optimize dynamic task assignment. The simulation results show that the execution time and energy consumption can be decreased and the lifetime of robotic fish sensor network is prolonged with the proposed method.