Animals often have behaviour which aims to maintain them living as groups'

1
Introduction
SUBZERO III
Table 1 The basic data of the vehicle

• Animals often have behaviour which aims to
  maintain them living as groups.
• Fish schooling is a typical group behaviour
  and may have lessons to offer the development of
  team cooperation of unmanned underwater vehicles
  (UUVs).
• Cooperating UUVs is a popular trend for a
  variety of work, for example long-range,
  oceanographic surveying and data collection, even
  repetitive and dangerous military missions.
• Schooling fish rely on vision and the lateral
  line system. The whole school is the leader and
  each individual is a follower. Each fish follows
  the behaviour rules to keep them in a group,
  according to the information they collect from
  the group.

Cruise speed
Buoyancy
Weight
Length
Mass
u1.5m/s
B69.0N
W69.0N
L0.98m
M7kg
In order to investigate the performance of the
approach, the dynamic manoeuvring model of a
small UUV, SUBZERO III, is used to describe each
vehicle in the team.
Methods
The algorithm is inspired by the Boids rules but
several new rules are added. There rules are
modified to satisfy the demands of operational
scenario. The behaviour-based rules are
multiplied by the relative priority weights and
are combined together to generate the final
decision of the next step. A higher priority rule
has a higher priority weight value to give a
larger contribution on the next step velocity
decision.
Results
Fuzzy logic controlled priority weights
Weight is the most important factor which affects
the intelligent decision. An vehicle decides the
priority of a current rule and relevantly assigns
a weight value to the rule when it needs to make
the next step decision. The steering angle
factors with higher weights will give much more
contribution to decision of next step velocity.
The fuzzy logic method is used to estimate the
priority weight value for each rule.
Travel time (seconds)
(metres)
(metres)
The travel trajectories and the travel time
varies when and change. Travel time is
the time when all vehicles arrive at the target.
N/A (Collide with obstacles)
3m
3m
75.1s
4m
3m
80.5s
4m
4m
N/A (Collide with obstacles)
4m
5m
76.0s
5m
3m
78.3s
5m
4m
N/A (Collide with obstacles)
5m
5m
Acknowledgements
This work has been carried out with the support
of the UK MoD Data and Information Fusion Defence
Technology Centre under project DIF DTC 12.8.1.