Formation Tracking and Transformation of AUVs Based on the Improved Particle Swarm Optimization Algorithm
Yue Li, Daqi Zhu · 2020
A novel algorithm is proposed to solve the problem of formation tracking and formation transformation. It is inspired from the biological principle of particle swarm optimization algorithm (PSO). All the AUVs are taken as particles, and key points of virtual formation are taken as one of the navigation targets respectively. When all of the AUVs arrive the desired corresponding key points, the aim of formation tracking is achieved. On the other hand, the formation transformation can be achieved by this algorithm, too. Some simulations are done to prove the effectiveness of the proposed method.