Abstract
Aiming at the path optimization of formation of Unmanned Underwater Vehicle (UUV) in the process of formation reorganization. Firstly, this paper describes the UUV formation on the basis of shape theory. Based on the UUV kinematic model. The master-slave UUV consensus controller, under time-delay condition, is designed to realize the formation and maintenance of multiple UUVs. Secondly, the local update method is introduced into the pheromone update of the standard ant colony algorithm. The improved ant colony algorithm is used to quickly generate the shortest formation path. Finally, the simulation experiment was designed based on python. After the UUVs complete autonomous obstacle avoidance, the improved ant colony algorithm was introduced to realize the selection of the recombinant formation route, according to the initial coordinates of the UUV and the relative target point. The simulation results show that the designed tracking controller and the improved ant colony algorithm are effective in the formation maintenance and reorganization of multi-UUV formation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fang, X., et al.: Formation control for unmanned surface vessels: a game-theoretic approach. Asian J. Control 24(2), 498–509 (2022)
Xia, G., Zhang, Y., Zhang, W., et al.: Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three-dimensional space. Ocean Eng. 233, 108903 (2021)
Rui, G., Chitre, M.: Cooperative positioning using range-only measurements between two AUVs. In: OCEANS’10 IEEE SYDNEY, pp. 1–6. IEEE (2010)
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: Proceedings. 1985 IEEE International Conference on Robotics and Automation, pp. 500–505. IEEE (1985)
Tan, K.H., Lewis, M.A.: Virtual structures for high-precision cooperative mobile robotic control. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS'96, pp. 132–139. IEEE (1996)
Leonard, N.E., Paley, D.A., Lekien, F., et al.: Collective motion, sensor networks, and ocean sampling. In: Proceedings of the IEEE, vol. 95, no. (1), pp. 48–74. IEEE (2007)
Zhao, S., Zelazo, D.: Bearing rigidity and almost global bearing-only formation stabilization. IEEE Trans. Autom. Control 61(5), 1255–1268 (2016)
Lin, Z., Wang, L., Chen, Z., Fu, M., Han, Z.: Necessary and sufficient graphical conditions for affine formation control. IEEE Trans. Autom. Control 61(10), 2877–2891 (2016)
Lin, Z., Wang, L., Han, Z., Fu, M.: Distributed formation control of multi-agent systems using complex laplacian. IEEE Trans. Autom. Control 59(7), 1765–1777 (2014)
Huang, P.Q., Wang, Y., Wang, K., Liu, Z.Z.: A bilevel optimization approach for joint offloading decision and resource allocation in cooperative mobile edge computing. IEEE Trans. Cybern. 50(10), 4228–4241 (2019)
Lin, J., He, C., Cheng, R.: Adaptive dropout for high-dimensional expensive multiobjective optimization. Complex Intell. Syst. 8(1), 271–285 (2021). https://doi.org/10.1007/s40747-021-00362-5
Ren, W.: On consensus algorithms for double-integrator dynamics. IEEE Trans. Automat. Contr. 53(6), 1503–1509 (2008)
Sun, Z., Park, M.C., Anderson, B.D.O., Ahn, H.-S.: Distributed stabilization control of rigid formations with prescribed orientation. Automatica 78, 250–257 (2017)
Zhao, S., Zelazo, D.: Translational and scaling formation maneuver control via a bearing-based approach. IEEE Trans. Control Netw. Syst. 4(3), 429–438 (2017)
Han, T., Lin, Z., Zheng, R., Fu, M.: A barycentric coordinate-based approach to formation control under directed and switching sensing graphs. IEEE Trans. Cybern. 48(4), 1202–1215 (2017)
Han, Z., Wang, L., Lin, Z., Zheng, R.: Formation control with size scaling via a complex Laplacian-based approach. IEEE Trans. Cybern. 46(10), 2348–2359 (2016)
Derenick, J.C., Spletzer, J.R.: Convex optimization strategies for coordinating large-scale robot formations. IEEE Trans. Rob. 23(6), 1252–1259 (2007)
Okamoto, A., Imasato, M., Hirao, S.C., et al.: Development of testbed AUV for formation control and its fundamental experiment in actual sea model basin. J. Robot. Mechatron. 33(1), 151–157 (2021)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Ye, F., Zhao, Z., Guo, X. (2023). Optimal Formation of UUV Groups Based on Shape Theory and Improved Ant Colony Algorithm Under Communication Delay. In: Pan, L., Zhao, D., Li, L., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2022. Communications in Computer and Information Science, vol 1801. Springer, Singapore. https://doi.org/10.1007/978-981-99-1549-1_8
Download citation
DOI: https://doi.org/10.1007/978-981-99-1549-1_8
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-1548-4
Online ISBN: 978-981-99-1549-1
eBook Packages: Computer ScienceComputer Science (R0)