Distributed cooperation control for a multiple AUVS
Yongjie Pang · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2007
The problem of cooperation and coordination between various vehicles in a multiple autonomous underwater vehicle system(Multiple AUVS) is a fundamental issue to be resolved before they can be used in the real world.A Market framework for a multiple AUVS distributed control system is proposed,giving basic hypothesis,concepts and algorithms.Theoretical analysis of this system's convergence and local computational complexity is also given.Simulations mainly focused on quality of performance,control of complexity,and robustness.The results,when compared with central control systems based on GA,show that this Market framework based on distributed controllers possesses significant advantages in the fields mentioned above.