针对自主水下航行器(AUV)集群在协同分群时的状态不可控问题，提出一种基于蚁群算法的可控分群控制算法。参照基本蚁群算法，利用期望子群规模和AUV与群目标的距离，设计了自主就近分群策略。基于该策略设计了具有多个变速群目标的协同分群控制算法，使AUV集群产生子群数量、规模和速度均可控的分群行为。通过理论分析和仿真实验验证了所设计算法的有效性。结果表明，该算法能使AUV集群实现可控的分群行为，且分群过程中未过多打乱已稳定的邻居结构，加快了集群结构调整过程，减少了集群速度振荡。
For the uncontrollable state of subgroups in autonomous underwater vehicle (AUV) fission, a controllable fission control algorithm based on ant colony algorithm is proposed. Referring to the basic ant colony algorithm, the expected subgroups scale and the distance between AUV and group targets are used to design the autonomous nearest fission strategy. Based on this strategy, a cooperative fission control algorithm with multiple variable speed group targets is designed to make AUV swarm produce fission behavior with controllable number, scale and speed of subgroups. This algorithm effectiveness is verified by theoretical analysis and simulation experiments. The results show that this algorithm can make AUV swarm achieve controllable fission behavior, and doesn’t disturb the stable neighbor structure too much in fission process, so as to accelerate swarm structure adjustment process and reduce swarm speed oscillation.
2022,44(14): 95-99 收稿日期：2021-09-09
DOI：10.3404/j.issn.1672-7649.2022.14.021
分类号：TP24
基金项目：黑龙江省大学生创新创业项目（202110236011）；黑龙江省省属高等学校基本科研业务费基础研究项目（KYYWF10236190202）
作者简介：李成凤(1986-)，女，博士研究生，研究方向为多智能体协同控制
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