A Local Charged Particle Swarm Optimization to track an underwater mobile source

Charles Coquet (1) , Clément Aubry (1) , Andreas Arnold (2) , Pierre-Jean Bouvet (1)

1 L@BISEN - Laboratoire ISEN
2 Thales DMS France, SAS

In this paper, a possible solution to track a mobile underwater source in a closed environment with N Autonomous Underwater Vehicles (AUV) in a swarm formation is adressed. The source tracking algorithm is defined as successful when the range between the source and the swarm is sufficiently low during a given duration, short enough to perform a specified action (for example a source localization). A source is defined as an entity that releases a scalar information affected by transport and diffusion in the environment. We use a generic time-varying information f (pi(t)), where pi at time t is the m-dimensional position of a tracker i and function f (.) is a function that represents sensor information. In this paper, we propose an innovative tracking method inspired by the Particle Swarm Optimization (PSO) algorithm that we call the Local Charged Particle Swarm Optimization (LCPSO). The proposed algorithm is adapted to range-dependant communication that characterizes the underwater context and includes flocking parameters. Comparison of the LCPSO against state of the art methods demonstrate the interest of our approach in an underwater scenario.

Mots clés: Index Terms-PSO; Swarm; Robotics

Domaines: Automatique; Robotique [cs.RO]

Charles Coquet, Clément Aubry, Andreas Arnold, Pierre-Jean Bouvet. A Local Charged Particle Swarm Optimization to track an underwater mobile source. MTS/IEEE Oceans, 2019, Marseille, France. ⟨hal-02932492⟩