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Bio-Inspired Formation Control for UUVs Swarm Based on Social Force Model

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Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) (ICAUS 2021)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 861))

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Abstract

Unmanned underwater vehicle (UUV) swarm can be used to perform a variety of tasks other than a single UUV capabilities, such as survey of marine fishery resource. Pattern formation control of UUVs swarm is a basic function for accomplishing a given mission. Since each UUV cannot access the global information of whole swarm, the design of the controller should be based on local information only. However, developing decentralized formation control algorithms for UUVs swarm is highly challenging. In this paper, we propose a bio-inspired formation control for UUVs swarm based on social force model combined with the idea of the optimized Boid model. The simulation verifies the feasibility and effectiveness of our proposed control approach. The induced swarm achieves the cohesive flocking and avoiding collision without external or global control.

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Acknowledgment

This study was partly supported by Joint fund of Science & Technology Department of Liaoning Province and State Key Laboratory of Robotics China (2020-KF-12-09), National Natural Science Foundation of China (61603067), Foundation of Liaoning Educational Committee (QL202016) and Dalian youth talent support program (2017RQ053). Liaoning key research and development program (2020JH2/10100043), Liaoning Province Natural Science Foundation (No. 20180550674).

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Authors and Affiliations

  1. School of Information Science and Engineering, Dalian Ocean University, Dalian, 116023, China

    Yuanshan Lin, Xuhang Wu, Xin Wang, Gaoming Hu, Boyang Xie, Xinzhong Cui & Hong Yu

  2. Key Laboratory of Environment Controlled Aquaculture (KLECA), Ministry of Education, Dalian, 116023, China

    Yuanshan Lin, Xuhang Wu, Xin Wang, Gaoming Hu, Boyang Xie, Xinzhong Cui & Hong Yu

Authors
  1. Yuanshan Lin
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  2. Xuhang Wu
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  3. Xin Wang
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  4. Gaoming Hu
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  5. Boyang Xie
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  6. Xinzhong Cui
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  7. Hong Yu
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Corresponding author

Correspondence to Xinzhong Cui .

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Editors and Affiliations

  1. College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China

    Meiping Wu

  2. College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China

    Yifeng Niu

  3. Beijing HIWING Scientific and Technological Information Institute, Beijing, China

    Mancang Gu

  4. Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory, Beijing, China

    Jin Cheng

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Lin, Y. et al. (2022). Bio-Inspired Formation Control for UUVs Swarm Based on Social Force Model. In: Wu, M., Niu, Y., Gu, M., Cheng, J. (eds) Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021). ICAUS 2021. Lecture Notes in Electrical Engineering, vol 861. Springer, Singapore. https://doi.org/10.1007/978-981-16-9492-9_319

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