水下航行器的神经群控制算法

Q3 Mathematics

WSEAS Transactions on Systems and Control Pub Date : 2023-10-17 DOI:10.37394/23203.2023.18.30

Tomasz Praczyk, Piotr Szymak

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引用次数: 0

摘要

本文提出了一种进化递归神经网络在水下航行器群控制中的应用。在蜂群中，一辆车是领导者，其他都是追随者。领导者带领群体沿着预定的轨迹前进，而不考虑追随者，而追随者跟随领导者并避免与所有其他车辆发生碰撞。通过改变深度来避免蜂群与外部障碍物的碰撞。领导者负责检测障碍，并通知所有的追随者需要改变深度。为了跟随领导者，追随者使用到领导者的距离信息。他们无法获得方向信息。为了避免群体内部的碰撞，追随者使用了短程传感器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Neural Swarm Control Algorithm for Underwater Vehicles

The paper presents the application of an evolutionary recurrent neural network to control the swarm of underwater vehicles. In the swarm, one vehicle is the leader and the others are followers. The leader leads the swarm along a predefined trajectory without regard for the followers while the followers follow the leader and avoid collisions with all other vehicles. Avoiding collisions by the swarm with external obstacles is done by changing the depth. The leader is responsible for detecting the obstacles and informing all the followers about the need to change the depth. To follow the leader, the followers use the information about the distance to it. Directional information is unavailable to them. To avoid collisions inside the swarm, the followers use shortrange sensors.

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来源期刊

WSEAS Transactions on Systems and Control Mathematics-Control and Optimization

CiteScore

1.80

自引率

0.00%

发文量

期刊介绍： WSEAS Transactions on Systems and Control publishes original research papers relating to systems theory and automatic control. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with systems theory, dynamical systems, linear and non-linear control, intelligent control, robotics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.