Hierarchical Model for an AUV Swarm with a Leader

• Autorzy: Zhao Qiang , Yang Tengfei , Tang Guoqiang , Yang Yan , Luan Yu , Wang Gang , Wan Teng , Xu Minyi , Li Shuai , Xie Guangming

Identyfikatory

DOI

10.2478/pomr-2025-0007

• Języki publikacji: EN

Abstrakty

EN

This paper introduces an innovative hierarchical model with a leader to facilitate navigation of a swarm of underwater robots, inspired by the collective behaviours observed in natural animal groups, such as schools of fish and flocks of birds. In this model, the leader robot carries a comprehensive set of navigation information, while the other robots are stratified based on the relative distances between them and follow the leader during the navigation process. The model incorporates repulsion and attraction forces to enable clustering and collision avoidance among the robots. Initial simulation results confirm the scalability of the model and its robustness against noise, while further simulations demonstrate that the proposed layered strategy effectively manages polyline and circular trajectory navigation and guides the robotic group around obstacles while maintaining the group’s structural stability and efficiency. In addition, the decentralised nature of the model and its minimal communication requirements make it highly suitable for practical underwater tasks. This research not only provides an effective and deployable solution for the cooperative synchronisation of underwater robots but also offers valuable insights for understanding and designing other types of robotic swarm systems.

Słowa kluczowe

EN

multiple underwater robots; self-organisation; swarm; hierarchical structure; leader

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2025
• Tom: nr 1
• Strony: 71--80
• Opis fizyczny: Bibliogr. 23 poz., rys., tab.

Twórcy

autor

Zhao Qiang

• Marine Engineering College, Dalian Maritime University, Dalian, China
• College of Mechanical and Control Engineering, Baicheng Normal University, Baicheng, China

autor

Yang Tengfei

• Marine Engineering College, Dalian Maritime University, Dalian, China

• https://orcid.org/0009-0002-2738-9717

autor

Tang Guoqiang

• Marine Engineering College, Dalian Maritime University, Dalian, China

• https://orcid.org/0009-0000-2956-6997

autor

Yang Yan

• Marine Engineering College, Dalian Maritime University, Dalian, China

autor

Luan Yu

• Marine Engineering College, Dalian Maritime University, Dalian, China

• https://orcid.org/0009-0003-2894-9787

autor

Wang Gang

• College of Mechanical Engineering, Jilin Communications Polytechnic, Changchun, China

• https://orcid.org/0000-0002-0879-2714

autor

Wan Teng

• College of Mechanical and Control Engineering, Baicheng Normal University, Baicheng, China

• https://orcid.org/0009-0000-7775-8109

autor

Xu Minyi

• Marine Engineering College, Dalian Maritime University, Dalian, China

• https://orcid.org/0000-0002-3772-8340

autor

Li Shuai

• State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China

• https://orcid.org/0000-0001-5510-8180

autor

Xie Guangming

• State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China

• https://orcid.org/0000-0001-6504-0087

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki i promocja sportu (2025).