Abstract
AbstractUnmanned underwater vehicle (UUV) swarm can be used to perform a variety of tasks other than a single UUV capabilities, such as survey of marine fishery resource. Pattern formation control of UUVs swarm is a basic function for accomplishing a given mission. Since each UUV cannot access the global information of whole swarm, the design of the controller should be based on local information only. However, developing decentralized formation control algorithms for UUVs swarm is highly challenging. In this paper, we propose a bio-inspired formation control for UUVs swarm based on social force model combined with the idea of the optimized Boid model. The simulation verifies the feasibility and effectiveness of our proposed control approach. The induced swarm achieves the cohesive flocking and avoiding collision without external or global control.KeywordsUUVs swarmFormation controlSocial force modelBio-inspired formation control
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