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论文:2014,Vol:32,Issue(4):581-585 |
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引用本文： |
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刘明雍, 杨盼盼, 雷小康, 刘坤. 基于信息耦合度的群集式AUV分群控制算法[J]. 西北工业大学 |
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Liu Mingyong, Yang Panpan, Lei Xiaokang, Liu Kun. ICD(Information Coupling Degree) Based Control Algorithm for Breaking up of Swarm of AUVs(Autonomous Underwater Vehicles) into Subswarms[J]. Northwestern polytechnical university |
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| 基于信息耦合度的群集式AUV分群控制算法 |
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| 刘明雍, 杨盼盼, 雷小康, 刘坤 |
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| 西北工业大学 航海学院, 陕西 西安 710072 |
| 摘要: |
| 自主水下航行器(AUV)的分群控制,表征为AUV群集在外部刺激下分裂成多个子群的行为。针对无协商、指派及中心控制的AUV自发分群问题,提出一种基于信息耦合度的分布式分群控制算法。该算法利用信息耦合度表示AUV间的相互关联程度,并根据信息耦合度的差异动态调节个体运动倾向性,使得AUV在外部刺激下运动行为产生分化,从而实现无中心控制下AUV群集的自发分群运动。仿真实验验证了该算法的可行性和有效性。 |
| 关键词:
自主水下航行器
分群控制
信息耦合度
耦合强度
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| ICD(Information Coupling Degree) Based Control Algorithm for Breaking up of Swarm of AUVs(Autonomous Underwater Vehicles) into Subswarms |
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| Liu Mingyong, Yang Panpan, Lei Xiaokang, Liu Kun |
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| College of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| The breaking-up control of swarm of AUVs manifests as the splitting behavior of a cohesive AUV swarm into multiple subswarms. For the spontaneous breaking-up problem without negotiation, appointment or centralized control, an ICD based breaking-up control algorithm is proposed. This algorithm utilizes ICD to denote the correla-tion between AUVs, thus coordinating the moving preference according to ICD differences. This approach can in-duce the motion behavior of AUVs under external stimuli and realize the spontaneous breaking-up behavior in the absence of any centralized control. Simulation results and their discussion verify preliminarily the feasibility and ef-fectiveness of the proposed breaking-up control algorithm. |
| Key words:
acceleration
algorithms
autonomous underwater vehicles
control
design
efficiency
functions
mathematical models
MATLAB
matrix algebra
trajectories
velocity
breaking-up control
coupling strength
ICD(information coupling degree)
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| 收稿日期: 2013-10-27
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(51179156、51379176)资助 |
| 通讯作者:
Email： |
| 作者简介: 刘明雍(1971-),西北工业大学教授、博士生导师,主要从事水下导航制导与控制研究。
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