| The Unmanned Underwater Vehicle(UUV)is a highly intelligent and autonomous underwater unmanned equipment.Nowadays,due to the limited functions of a single UUV,the collaborative operation of multiple UUV formations has become one of the focuses of scientific researchers in various countries.Multiple UUVs need to reconfigure their formation according to different mission.At the same time,the communication between UUVs is affected by the complicated mairne eviroment,and the reconfiguration of multi-UUV is also effect.Therefore,it is of great significance to research formation reconfiguration for multi-UUVs navigation with communication delay.This paper mainly studies the problem of formation reconfiguration for UUV navigation with hydroacoustic communication delay.A horizontal plane space model centered on the main UUV is established based on grid method.Then the movement method of follower UUVs and the control command transmission scheme with hydroacoustic communication delay are proposed.Then the particle swarm optimization algorithm is used to allocate the appropriate combat point for the follower UUV according to the position information of the UUV and combat point in the space model.And a particle swarm fitness function is established,which composed of a penalty function.Finally,the task of formation reconfiguration is realized combined with the movement method of follower UUVs.The main research work is as follows:First,determine the research content of formation reconfiguration during multi-UUVs maneuvering process.Establish a fixed coordinate system and a motion coordinate system,and establish a UUV horizontal plane grid space model based on the grid method.In order to solve the collision of multiple UUV formation reconfiguration,a movement method of UUV formation reconfiguration based on row motion and rank motion in space model is proposed.The control evaluation standard is set according to essence of formation reconfiguration.Secondly,designe different behavioral motion stages of UUV row motion and rank motion in the grid space.And infer the calculation method of UUV behavior control command.Determine the time components of the main UUV transmission control command each time according to the characteristics and difficulties of underwater communication methods.Using fuzzy control algorithm to calculate the duration of hydroacoustic communication delay.Realize the movement control of follower UUV following main UUV with hydroacoustic communication delay.Thirdly,a method based on particle swarm optimization algorithm to allocate combat point of desired formation is introduced,which is considered the movement method of multi-UUV formation reconfiguration in the grid space.According to the problem-solving requirments,the particle position information in particle swarm algorithm is set to grid number after dispersion movement and combat point num.Establish the fitness function of particle swarm algorithm by safety principle and minimum movement principle in the process of formation reconfiguration.And calculate the target point information of each follower UUV movement stage relative to the main UUV.Finally,use the UUV control method with hydroacoustic communication delay,and combine the method based on particle swarm optimization algorithm to allocate combat point of desired formation.Some simulation cases are designed to verify the feasibility of formation reconfiguration method. |
