Task allocation method for multi-underwater unmanned system

The invention discloses a task allocation method for a multi-underwater unmanned system. The task allocation method comprises the following steps: step 1, determining a voyage path with minimum oil consumption loss; 2, determining constraint conditions; and step 3, constructing a multi-objective optimization model according to the objective function needing to be optimized. 4, establishing and executing a task allocation model of the multi-water unmanned system based on a real-time updating priori knowledge sheep flock optimization algorithm; and step 5, obtaining an optimized task allocation result based on the task allocation model of the multi-underwater unmanned system of the real-time updating priori knowledge sheep flock optimization algorithm, namely, the task area to which each underwater unmanned system is allocated and the task completion sequence. The method has the advantages that the fuel oil utilization efficiency is improved, resource waste is avoided, task allocation is more reasonable and eff