Multi-UUVs Team Line Formation Control by a Behaviour-Based Method with Fuzzy Logic Adapters
A team of low-cost underwater vehicles could cover an area quickly, e.g. for pollution detection and clearance and benefit from the advantages of formation control, for example it can reduce the cost, increase the robustness and efficiency. In previous work, we have investigated behaviour-based rules with fuzzy logic controlled priority weights for multi-UUVs team cooperation. The goal of this paper is to examine whether the behaviour-based rules can control the line formation of the team when each member is represented by a dynamic manoeuvring model of a real vehicle. Fuzzy logic controllers are applied to update the priority weights for the behavioural rules according to different situations that the vehicles meet in real time. The cooperative mission scenarios with line formation pattern are simulated and the results indicate that the approach can potentially help to maintain the cooperative vehicles in a specified line formation.
Pietro VINCENZINI and Salvatore GRAZIANI
Y. Hou and R. Allen, "Multi-UUVs Team Line Formation Control by a Behaviour-Based Method with Fuzzy Logic Adapters", Advances in Science and Technology, Vol. 58, pp. 165-170, 2008