SELF-COMPETITION LEADER–FOLLOWER MULTI-AUV FORMATION CONTROL BASED ON IMPROVED PSO ALGORITHM WITH ENERGY CONSUMPTION ALLOCATION

Yue Li,∗ Xin Li,∗ Daqi Zhu,∗ and Simon X. Yang∗∗

Keywords

MultiAUV, formation control, formation tracking, energy consump tion, improved PSO

Abstract

For the breakdown problem of multi-autonomous underwater vehicle (AUV) formation caused by leader failure, a novel self-competition leader–follower method is proposed in this paper, which is based on an improvement of the particle swarm optimization (PSO) algorithm and a principle of energy consumption distribution. By comparing the energy consumption function values of different AUVs, the one with the minimum function value will be selected as the swarm leader when the previously chosen leader is broken. By using the improved PSO algorithm, the problem of formation tracking and formation keeping can be solved. In the end, the effectiveness of the proposed method is proved by simulations, and the fault tolerance of the method is analysed.

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