Dynamic formation control for autonomous underwater vehicles
来源期刊：中南大学学报(英文版)2014年第1期
论文作者：YAN Xue-feng(燕雪峰) GU Feng(古锋) SONG Chen(宋琛) HU Xiao-lin(胡晓琳) PAN Yi(潘毅)
文章页码：113 - 123
Key words：formation control; path plan; keep formation; dynamic strategy
Abstract: Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles (AUVs) to collaborate with each other. In this work, a dynamic formation model was proposed, in which several algorithms were developed for the complex underwater environment. Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes. Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles. Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation. The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated. Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness, even with a concave obstacle. It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
YAN Xue-feng(燕雪峰)1, GU Feng(古锋)2, SONG Chen(宋琛)1, HU Xiao-lin(胡晓琳)3, PAN Yi(潘毅)3
(1. College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics,
Nanjing 210016, China;
2. Department of Computer Science, College of Staten Island, New York 10314, USA;
3. Department of Computer Science, Georgia State University, Atlanta, GA 30303, USA)
Abstract:Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles (AUVs) to collaborate with each other. In this work, a dynamic formation model was proposed, in which several algorithms were developed for the complex underwater environment. Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes. Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles. Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation. The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated. Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness, even with a concave obstacle. It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
Key words:formation control; path plan; keep formation; dynamic strategy
