Abstract

Aiming at the path optimization of formation of Unmanned Underwater Vehicle (UUV) in the process of formation reorganization. Firstly, this paper describes the UUV formation on the basis of shape theory. Based on the UUV kinematic model. The master-slave UUV consensus controller, under time-delay condition, is designed to realize the formation and maintenance of multiple UUVs. Secondly, the local update method is introduced into the pheromone update of the standard ant colony algorithm. The improved ant colony algorithm is used to quickly generate the shortest formation path. Finally, the simulation experiment was designed based on python. After the UUVs complete autonomous obstacle avoidance, the improved ant colony algorithm was introduced to realize the selection of the recombinant formation route, according to the initial coordinates of the UUV and the relative target point. The simulation results show that the designed tracking controller and the improved ant colony algorithm are effective in the formation maintenance and reorganization of multi-UUV formation.

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