BEECLUST used for exploration tasks in Autonomous Underwater Vehicles. Issue 1 (2015)

• Record Type: Journal Article
• Authors: Bodi, Michael; Möslinger, Christoph; Thenius, Ronald; Schmickl, Thomas
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 1(2015)
• Page Start: 819
• Page End: 824
• Publication Date: 2015
• Subjects: Swarm Intelligence -- Artificial Life -- Emergent Behaviour -- Underwater Robotics; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.05.133
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Underwater exploration is still a difficult task these days. In this paper we suggest a swarm of Autonomous Underwater Vehicles (AUVs) for such tasks. These AUVs are controlled by BEECLUST which is a swarm control algorithm inspired by honeybee behaviour. A swarm controlled by BEECLUST shows very reliable aggregation behaviour in a global optimum. In a simulation experiment we show that BEECLUST is very well adaptable for AUV swarms. Furthermore we show that BEECLUST is not only capable of showing aggregation behaviour but also is a valid tool for underwater exploration tasks.