基于信息耦合度的群集式AUV分群控制算法  

ICD( Information Coupling Degree) Based Control Algorithm for Breaking up of Swarm of AUVs( Autonomous Underwater Vehicles) into Subswarms

作　　者：刘明雍[1] 杨盼盼[1] 雷小康[1] 刘坤[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《西北工业大学学报》2014年第4期581-585,共5页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(51179156;51379176)资助

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。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 effectiveness of the proposed breaking-up control algorithm.

关 键 词：自主水下航行器 分群控制 信息耦合度 耦合强度 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]