{"title":"Neural Swarm Control Algorithm for Underwater Vehicles","authors":"Tomasz Praczyk, Piotr Szymak","doi":"10.37394/23203.2023.18.30","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":39422,"journal":{"name":"WSEAS Transactions on Systems and Control","volume":"111 3S 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"WSEAS Transactions on Systems and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.37394/23203.2023.18.30","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Mathematics","Score":null,"Total":0}
引用次数: 0
Abstract
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.
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.
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