Multi-AUV-hunter collaborative control method based on lion group algorithm

A technology of collaborative control and swarm algorithm, which is applied in the control of finding targets, etc., can solve the problems of insufficient intelligence and interactivity of round-up robots, and the inability of a single AUV to complete complex underwater tasks, achieving good convergence characteristics and high round-up efficiency.

Inactive Publication Date: 2019-10-25
HARBIN ENG UNIV
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Problems solved by technology

[0009] The purpose of the present invention is to provide a multi-AUV stalker cooperative control method based on the lion group algorithm for the situation that a single AUV cannot complete complex underwater tasks, the intelligent interaction of the siege robot is insufficient, and there are obstacles in the actual three-dimensional environment

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  • Multi-AUV-hunter collaborative control method based on lion group algorithm
  • Multi-AUV-hunter collaborative control method based on lion group algorithm
  • Multi-AUV-hunter collaborative control method based on lion group algorithm

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[0050] The present invention will be further described below in conjunction with the accompanying drawings.

[0051] In the three-dimensional deep-sea environment, the target can fight against capture by floating or diving in the three-dimensional deep sea, and can also escape in the complex two-dimensional seabed. The core problem to be solved by the present invention is what kind of behavioral coordination strategy should be implemented by the selected rounders so that the target can be efficiently rounded up in a convergent space area. The present invention assumes that all underwater autonomous robots have the same navigation, obstacle avoidance, and position recognition functions, have the same energy reserve and consumption rate, and have a decision-making mechanism for selecting a suitable rounder from many AUVs. Therefore, it is only necessary to study how to conduct cooperative control of the behavior of AUV hunters, that is, how to apply the Lion Group Algorithm (LGA...

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Abstract

The invention belongs to the field of multi-underwater-robot cooperative control and particularly relates to a multi-AUV-hunter cooperative control method based on a lion group algorithm. For the problem that a single AUV is unable to complete a complex underwater task, the intelligent interactivity of hunting robots is insufficient and obstacles are in an actual three-dimensional environment, thepresent invention discloses the multi-AUV-hunter cooperative control method based on a lion group algorithm. The invention is for the case of three or more hunters. In the case that the moving performance of the hunters in a hunter group is equivalent, through diving and rising operations, while the same water depth as a target is maintained, a target is surrounded in a geometric center, and thehunters are uniformly distributed around the target with the target as a center and a distance r as a radius to complete the cooperative hunting. The lion group algorithm (LGA) is applied to perform AUV hunting cooperative control, the hunting efficiency is higher, and the convergence characteristic is better.

Description

technical field [0001] The invention belongs to the field of collaborative control of multiple underwater robots, and in particular relates to a collaborative control method for multiple AUV hunters based on a lion group algorithm. Background technique [0002] With the continuous acceleration and deepening of human development of the ocean, underwater robot technology has become an important means for human exploration of the ocean, which has attracted the great attention of many scientific researchers, and then began to flourish. In recent years, autonomous underwater robots have played an increasingly important role in marine environment monitoring, data acquisition, area search, and target detection in Haiti. However, due to the increasing complexity of tasks undertaken by underwater robots, a single AUV has begun to be unable to meet the work needs. As a result, researchers began to conduct in-depth research on multi-AUV systems. The spatial distribution capability of...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 张子迎潘思辰陈云飞徐东孟宇龙宫思远杨旭邱靖廷
Owner HARBIN ENG UNIV
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