Flocking Control Strategy of Multi-underwater Spherical Robot based on Potential Function
Underwater robot formation cooperation is an important research content of swarm intelligence on underwater robot. Based on the Flocking algorithm and the dynamics characteristics of the underwater spherical robot, this paper establishes a multi-underwater spherical robot flocking model. Then, through a series of simulation, the reliability and stability of the group movement of underwater robots are verified. Moreover, the effect of flocking is explained by analyzing the trajectory and control quantity. Finally, the application is extended by simulating more robots and more complex scenarios.
Authors
- Mingchao Ding (ORCID: https://orcid.org/0000-0001-9647-6887)
- Ao Li (ORCID: https://orcid.org/0000-0001-7391-3749)
- Shuxiang Guo (ORCID: https://orcid.org/0000-0002-0607-9798)
- Bin Wang (ORCID: https://orcid.org/0000-0001-7665-6290)
Institutions
- Beijing Institute of Technology (CN)
- Aerospace Center Hospital (CN)
- Ministry of Industry and Information Technology (CN)
Publication Details
- Published
- 2024-08-04
- DOI
- https://doi.org/10.1109/icma61710.2024.10632887
- Primary Topic
- Underwater Vehicles and Communication Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00