CAJ | 학술논문

自主水下航行器（ AUV）的分群控制，表征为AUV群集在外部刺激下分裂成多个子群的行为。针对无协商、指派及中心控制的AUV自发分群问题，提出一种基于信息耦合度的分布式分群控制算法。该算法利用信息耦合度表示AUV间的相互关联程度，并根据信息耦合度的差异动态调节个体运动倾向性，使得AUV在外部刺激下运动行为产生分化，从而实现无中心控制下AUV群集的自发分群运动。仿真实验验证了该算法的可行性和有效性。
자주수하항행기（ AUV）적분군공제，표정위AUV군집재외부자격하분렬성다개자군적행위。침대무협상、지파급중심공제적AUV자발분군문제，제출일충기우신식우합도적분포식분군공제산법。해산법이용신식우합도표시AUV간적상호관련정도，병근거신식우합도적차이동태조절개체운동경향성，사득AUV재외부자격하운동행위산생분화，종이실현무중심공제하AUV군집적자발분군운동。방진실험험증료해산법적가행성화유효성。
The breaking-up control of swarm of AUVs manifests as the splitting behavior of a cohesive AUV swarm into multiple subswarms. For the spontaneous breaking-up problem without negotiation, appointment or centralized control, an ICD based breaking-up control algorithm is proposed. This algorithm utilizes ICD to denote the correla-tion between AUVs, thus coordinating the moving preference according to ICD differences. This approach can in-duce the motion behavior of AUVs under external stimuli and realize the spontaneous breaking-up behavior in the absence of any centralized control. Simulation results and their discussion verify preliminarily the feasibility and ef-fectiveness of the proposed breaking-up control algorithm.