From biological group behaviour to underwater vehicle team cooperation
From biological group behaviour to underwater vehicle team cooperation
Cooperating unmanned underwater vehicles (UUVs) is a popular trend for a variety of work, for example long-range, oceanographic surveying and data collection, even repetitive and dangerous missions for military deployment. A team of low-cost under- water vehicles could cover an area quickly and effectively. Team advantages appear obvious when cooperation is applied since a team could achieve an exploratory mis- sion quicker than a single vehicle and in particular a single vehicle has a much greater chance of being lost or of developing a fault which could destroy the mission plan. Animals often have behaviour which aims to maintain themselves living as groups. Fish schooling is a typical group behaviour and may have lessons to offer the devel- opment of team cooperation of UUVs. The idea of this study is inspired from some animals' group behaviour and their coupling modes, especially fish schooling, and fo- cuses on the feasibility and the possibility of applications with a group of underwater vehicles. Previous work on the development of SUBZERO III, a small, low-cost UUV, has described the dynamic model of the vehicle and this model forms the basis of the vehicle dynamics in a new simulation model design. In order to develop UUV team working, we investigate a modified, behaviour-based group control algorithm and simulate with the dynamic model of SUBZERO III. The behaviour-based control rules, in the algorithm are classified with different priority weights. Higher priority rules have higher priority weight values which have a greater effect on the next decision step. In order to adaptively estimate real-time priority weights according to the situation that the vehicles meet, a fuzzy logic control method is used. Mission scenarios of differing complexities are simulated to assess the stability and
University of Southampton
Hou, Yan
9387211b-83e4-4663-a26b-eab4b36ee509
2008
Hou, Yan
9387211b-83e4-4663-a26b-eab4b36ee509
Hou, Yan
(2008)
From biological group behaviour to underwater vehicle team cooperation.
University of Southampton, Doctoral Thesis.
Record type:
Thesis
(Doctoral)
Abstract
Cooperating unmanned underwater vehicles (UUVs) is a popular trend for a variety of work, for example long-range, oceanographic surveying and data collection, even repetitive and dangerous missions for military deployment. A team of low-cost under- water vehicles could cover an area quickly and effectively. Team advantages appear obvious when cooperation is applied since a team could achieve an exploratory mis- sion quicker than a single vehicle and in particular a single vehicle has a much greater chance of being lost or of developing a fault which could destroy the mission plan. Animals often have behaviour which aims to maintain themselves living as groups. Fish schooling is a typical group behaviour and may have lessons to offer the devel- opment of team cooperation of UUVs. The idea of this study is inspired from some animals' group behaviour and their coupling modes, especially fish schooling, and fo- cuses on the feasibility and the possibility of applications with a group of underwater vehicles. Previous work on the development of SUBZERO III, a small, low-cost UUV, has described the dynamic model of the vehicle and this model forms the basis of the vehicle dynamics in a new simulation model design. In order to develop UUV team working, we investigate a modified, behaviour-based group control algorithm and simulate with the dynamic model of SUBZERO III. The behaviour-based control rules, in the algorithm are classified with different priority weights. Higher priority rules have higher priority weight values which have a greater effect on the next decision step. In order to adaptively estimate real-time priority weights according to the situation that the vehicles meet, a fuzzy logic control method is used. Mission scenarios of differing complexities are simulated to assess the stability and
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Published date: 2008
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Local EPrints ID: 466426
URI: http://eprints.soton.ac.uk/id/eprint/466426
PURE UUID: 73f1fc8b-a184-4af0-a21d-51478c7cc8be
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Date deposited: 05 Jul 2022 05:15
Last modified: 16 Mar 2024 20:42
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Author:
Yan Hou
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