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A Multi-UUV Formation Control and Reorganization Method Based on Path Tracking Controller and Improved Ant Colony Algorithm

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Bio-Inspired Computing: Theories and Applications (BIC-TA 2021)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1565))

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Abstract

Aiming at the path selection problem in the reorganization of multi-UUV formations, a path tracking controller and an improved ant colony algorithm are proposed. First, a path tracking controller based on the UUV kinematics model is designed to realize the formation maintenance of multiple UUVs. Secondly, a new local pheromone update method is introduced to improve the convergence of traditional ant colony algorithm. The simulation proves the effectiveness of the proposed control algorithm.

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Author information

Authors and Affiliations

  1. The Second Military Representative Office of Seafarer in Wuhan Area, Wuhan, 430064, China

    Bin Yang

  2. China Ship Development and Design Center, Wuhan, 430064, China

    Shuo Zhang

  3. School of Automation, Wuhan University of Technology, Wuhan, 430070, China

    Guangyu Luo & Dongming Zhao

Authors
  1. Bin Yang
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  2. Shuo Zhang
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  3. Guangyu Luo
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  4. Dongming Zhao
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Corresponding author

Correspondence to Guangyu Luo .

Editor information

Editors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, China

    Linqiang Pan

  2. Taiyuan University of Science and Technology, Taiyuan, China

    Zhihua Cui

  3. Taiyuan University of Science and Technology, Taiyuan, China

    Jianghui Cai

  4. Huazhong University of Science and Technology, Wuhan, China

    Lianghao Li

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Yang, B., Zhang, S., Luo, G., Zhao, D. (2022). A Multi-UUV Formation Control and Reorganization Method Based on Path Tracking Controller and Improved Ant Colony Algorithm. In: Pan, L., Cui, Z., Cai, J., Li, L. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2021. Communications in Computer and Information Science, vol 1565. Springer, Singapore. https://doi.org/10.1007/978-981-19-1256-6_25

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  • DOI: https://doi.org/10.1007/978-981-19-1256-6_25

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-1255-9

  • Online ISBN: 978-981-19-1256-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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