Research on Multi-UUVs Dynamic Formation Creating Method Based on 2D Grid Maneuver and Particle Swarm Optimization
Tao Chen, Han Zhao, Yitao Feng, Yunfan Pan, Kai You Wang · 2023
Formation creating is the primary problem to be studied in multi -agent formation cooperative control. The dynamic formation creating problem for multi-unmanned underwater vehicles(Multi-UUVs) is researched in this paper. In order to generate desired formation and avoid collision, a horizontal space 2D grid model is established firstly to realize the maneuvering of Multi-UUVs in formation creating. Then, the four-stage column and row mobility mechanism is designed to make each UUV move orderly in the 2D grid space. Further, the maneuvering desired position of each UUV is planned with particle swarm optimization(PSO) algorithm to make each UUV move optimally. The result of the method is to make each UUV maneuver in stages according to the planned maneuvering desired point, and finally create the desired formation safely and without collision.