A multi-AUVs Cooperative Hunting Algorithm for Environment with Ocean Current

摘要

Multi-AUV cooperative hunting is a very challenging research area, a novel multi-AUVs bio-inspired cooperative hunting algorithm is presented. Firstly, a bio-inspired Neural Network model (BINN) is established to represent the AUV underwater working environment. Each point in the grid map corresponds to the activity of a neural activity in the BINN, and the next target point of the hunting AUV can be planned autonomously according to the neuron activity of the neurons in the BINN. Secondly, the direction decision algorithm is embedded into the BINN hunting model for the ocean current environment, and the four hunting AUVs all move from the left side of the map, with the rhombic formation to hunt the evader AUV. And the integrated algorithm proposed is compared with the hunting method without direction decision. Finally, simulation results are presented to demonstrate that the proposed algorithm is effective for cooperative hunting mission.