基于信息耦合度的群集式AUV分群控制算法

摘要

The breaking-up control of swarm of AUVs manifests as the splitting behavior of a cohesive AUV swarm into multiple subswarms. For the spontaneous breaking-up problem without negotiation, appointment or centralized control, an ICD based breaking-up control algorithm is proposed. This algorithm utilizes ICD to denote the correla-tion between AUVs, thus coordinating the moving preference according to ICD differences. This approach can in-duce the motion behavior of AUVs under external stimuli and realize the spontaneous breaking-up behavior in the absence of any centralized control. Simulation results and their discussion verify preliminarily the feasibility and ef-fectiveness of the proposed breaking-up control algorithm.%自主水下航行器（ AUV）的分群控制，表征为AUV群集在外部刺激下分裂成多个子群的行为。针对无协商、指派及中心控制的AUV自发分群问题，提出一种基于信息耦合度的分布式分群控制算法。该算法利用信息耦合度表示AUV间的相互关联程度，并根据信息耦合度的差异动态调节个体运动倾向性，使得AUV在外部刺激下运动行为产生分化，从而实现无中心控制下AUV群集的自发分群运动。仿真实验验证了该算法的可行性和有效性。