Distributed Cooperative Control Based on Dynamic Following Interaction Mechanism for UUV Swarm

Distributed cooperative control is a research hotspot in field of swarm intelligence and autonomous coordination for underwater unmanned system. In order to solve the problem of random collision effect caused by fluctuations and disturbances in marine environment, a novel distributed cooperative control approach which is derived from bio-inspired intelligent interaction, is investigated for unmanned underwater vehicle swarm under disturbed environment in this paper. Firstly, a new interaction framework involved with topological interaction and visual perception and attention, is integrated to ensure the optimal number and distribution of neighbors in local interaction. Then, a following-interaction model composed by single-nearest-neighbor following (SNNF) and weighted multiple-nearest-neighbors following (MNNF), is proposed to drive following via interaction parameter coupled by position, speed and heading information. Finally, a control approach is put forward by using the proposed following model and three interaction rules of attraction, repulsion and alignment, which can achieve a self-organized synchronization and collision avoidance. Simulation experiments are presented for illustrating feasibility and effectiveness of the proposed control approach.