Cluster Computing

, Volume 21, Issue 1, pp 855–868 | Cite as

Formation path control method for group coordination based on fuzzy logic control method

  • Lanyong ZhangEmail author
  • Zewei Liu
  • Christos Papavassiliou
  • Sheng Liu


Unmanned ship is an effective tool for human to exploit the sea. Single unmanned ship has been far from meeting the complex needs of the development of the ocean. But multiple unmanned ships cooperation system could expand the perception scope of individual unmanned ship, and achieve complex tasks. By adopting leader–follower architecture, the formation control scheme is composed of three vehicles. The objective is to synchronize the motion of the flock and show high performances of cooperative control. The controller uses fuzzy control, however, Fuzzy control not only depends on the fuzzy rules of experts, while scaling factors are important parameters that affect the performance of fuzzy control, and scaling factors are usually obtained by trial and error, so it is necessary to find a quick and effective way to adjust the quantization parameters. This paper uses the intelligent algorithm to optimize the entire controller. The simulation results show that follower unmanned ships move to the leader’s path quickly. The proposed method has fast response speed wave disturbances with strong robustness.


Formation path control Unmanned ship Fuzzy logic control GA 



This work was supported in part by the National Natural Science Foundation of China subsidization project (51579047), the National Key Technology Support Program (2013BAG25B01), the Research Fund for the Doctoral Program of Higher Education (20132304120015), the Doctoral Scientific Research Foundation of Heilongjiang (No. LBH-Q14040), the National Defense Fundamental Research Funds (No. IEP14001), the Open Project Program of State Key Laboratory of Millimeter Waves (K201707), and the Fundamental Research Funds for the Central Universities (HEUCF160414).


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Copyright information

© Springer Science+Business Media New York 2017

Authors and Affiliations

  • Lanyong Zhang
    • 1
    Email author
  • Zewei Liu
    • 1
  • Christos Papavassiliou
    • 2
  • Sheng Liu
    • 1
  1. 1.College of AutomationHarbin Engineering UniversityHarbinChina
  2. 2.Electrical and Electronic EngineeringImperial College LondonLondonUK

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