Research On Formation Method Of Multi-UUV Formation Based On Particle Swarm Optimization Algorithm

Underwater unmannedvehicle(UUV)has shown great application prospects in marine missions,and it can play an important role in both the civilian and military fields.In order to meet the needs of future development,multi-UUV formation collaborative execution tasks are an important research direction.Multi-UUV formations usually maintain a desired formation to perform tasks and can form desired formations independently.This is a basic capability that multi-UUV formations should possess.It is of great significance to study the formation method of multi-UUV formation for the development and application of formation technology in the futureThis paper proposes a method for formation of multiple UUV formations based on particle swarm optimization algorithm.An appropriate spatial model is established by analyzing the initial position of UUV and the expected point positions of the expected formation.Then,based on the positional relationship between the UUV and the expected points in the space model,the control strategy for the formation of multiple UUV formations is determined,and the particle fitness function of the particle swarm optimization algorithm is established.According to the particle swarm optimization algorithm,the maneuvering target points from each stage of the UUV are combined with the designed UUV track control method to control multiple UUV to form a desired formation autonomously and safely.The main research work of this paper is as follows:First,establish a UUV fixed coordinate system and a motion coordinate system,and establish a UUV horizontal plane space model;combine the UUV horizontal plane space model to design the UUV motion controller;combine the line of sight method and the designed PID controller to complete the UUV track control method.the study.Secondly,a method of forming multiple UUV formations based on the circular hierarchical planning is introduced,a method of establishing a circular hierarchical spatial model is proposed,and a three-stage maneuvering strategy in the circular hierarchical model is determined.The particle swarm optimization algorithm and the coding method designed for the UUV positions and the desired positions of the expected formation are used to plan the maneuvering target points at each stage of the UUV,so that each UUV can form an expected formation safely and autonomously.Thirdly,another method for formation of multiple UUV formations based on the grid method is introduced.A space model is established based on the grid method,and a four-stage maneuvering strategy is determined based on the established space model.The particle swarm optimization algorithm was used to uniformly plan the position of the target points for the four maneuvers,and finally each UUV formed a desired formation safely and autonomously.Finally,the method of formation formation researched in this paper is verified by simulation and experiments.The feasibility of the formation method of multi-UUV formation proposed in this paper is verified by the analysis of the results of simulation and experiment.