A Distributed Multi-level PSO Control Algorithm for Autonomous Underwater Vehicles
作者： Raffaele Grandi , Claudio Melchiorri
DOI: 10.1007/978-3-319-06944-9_6
关键词: Underwater 、 Computer science 、 Distributed computing 、 Asynchronous data 、 Obstacle avoidance 、 Network topology 、 Control algorithm 、 Point (geometry) 、 Particle swarm optimization 、 Robot
摘要: This paper presents a distributed control technique based on the Particle Swarm Optimization algorithm and able to drive in unknown environments group of autonomous robots common target point. In this paper, we consider particular case underwater vehicles. The is deal with complex scenarios, frequently found benthic exploration as e.g. presence obstacles, caves tunnels, mobile target. Moreover, asynchronous data exchange dynamic communication topologies are considered. Simulations results provided show features proposed approach.
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