期刊名称：International Journal of Innovative Research in Computer and Communication Engineering
印刷版ISSN：2320-9798
电子版ISSN：2320-9801
出版年度：2019
卷号：7
期号：3
页码：1978-1984
DOI：10.15680/IJIRCCE.2019. 0703073
出版社：S&S Publications
摘要：This paper investigates the attitude consensus problem of multiple Autonomous Underwater Vehicles
(AUVs) in the case of communication delay with the directed communication network. A distributed adaptive integral
sliding mode controller is designed for each vehicle to track the desired attitude. The inertia uncertainty and external
disturbance in the dynamics of AUV are considered in designing the control law. Multi-AUV cooperative hunting is a
very challenging research area, a novel multi-AUVs bio-inspired cooperative hunting algorithm is presented. Firstly, a
bio-inspired Neural Network model (BINN) is established to represent the AUV underwater working environment.
Each point in the grid map corresponds to the activity of a neural activity in the BINN, and the next target point of the
hunting AUV can be planned autonomously according to the neuron activity of the neurons in the BINN. Secondly, the
direction decision algorithm is embedded into the BINN hunting model for the ocean current environment, and the four
hunting AUVs all move from the left side of the map, with the rhombic formation to hunt the evader AUV. And the
integrated algorithm proposed is compared with the hunting method without direction decision. Finally, simulation
results are presented to demonstrate that the proposed algorithm is effective for cooperative hunting mission.
