Cluster segmentation algorithm based on the Vicsek with static summoning points

doi:10.23919/JSEE.2021.000052

Journal of Systems Engineering and Electronics ›› 2021, Vol. 32 ›› Issue (3): 607-618.doi: 10.23919/JSEE.2021.000052

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Cluster segmentation algorithm based on the Vicsek with static summoning points

Yan MA^1,²(), Zhaoyong MAO^1,*(), Jian QIN², Xiangyao MENG²(), Yujie XIAO²(), Jianhua CHEN²(), Wei FENG²()

¹ Key Laboratory of Unmanned Underwater Vehicle, Ministry of Industry and Information Technology, School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
² Naval Research Academy, Beijing 100161, China

Received:2020-06-23 Online:2021-06-18 Published:2021-07-26
Contact: Zhaoyong MAO E-mail:AI_worshipper@163.com;maozhaoyong@nwpu.edu.cn;xiangyao_meng@126.com;825807129@qq.com;chenjhua@zju.edu.cn;hjgcdxfw@163.com
About author:|MA Yan was born in 1991. He is currently a doctoral student at the Key Laboratory of Unmanned Underwater Vehicle, Ministry of Industry and Information Technology, School of Marine Science and Technology, Northwestern Polytechnical University. His research interests include clustering computation, unmanned systems, and intelligent control. E-mail: AI_worshipper@163.com||MAO Zhaoyong was born in 1980. He is a professor in the School of Marine Science and Technology, Northwestern Polytechnical University, China. His research interests include unmanned underwater vehicles, reliability optimization, and ocean energy harvesting. E-mail: maozhaoyong@nwpu.edu.cn||QIN Jian was born in 1978. He received his Ph.D. degree in engineering mechanics from Beijing Institute of Technology, Beijing, China, in 2013. He is a research fellow with the Naval Research Academy. His research interests include engineering mechanics and robot control||MENG Xiangyao was born in 1987. He received his Ph.D. degree in mechanical engineering from Northwestern Polytechnical University, Xi’an, Shaanxi, China, in 2015. From 2015 to now, he is an assistant research fellow with the Naval Research Academy. His research interest is unmanned underwater system. E-mail: xiangyao_meng@126.com||XIAO Yujie was born in 1987. He received his master’s degree in electrical engineering in 2013 and Ph.D. degree in systems engineering in 2015. From 2015 to now, he is an associate research fellow with the Naval Research Academy. His research interests include unmanned formation cooperative control and intelligent decision system. E-mail: 825807129@qq.com||CHEN Jianhua was born in 1989. He received his Ph.D. degree in mechanical engineering from Mechanical Engineering College, Shijiazhuang, Hebei, China, in 2018. From 2018 to now, he is an assistant research fellow with the Naval Research Academy. His research interests include unmanned surface vehicle and robot control. E-mail: chenjhua@zju.edu.cn||FENG Wei was born in 1988. He received his Ph.D. degree from Naval University of Engineering, Wuhan, Hubei, China, in 2018. From 2018 to now, he is an assistant research fellow with the Naval Research Academy. His research interest is the unmanned underwater system. E-mail: hjgcdxfw@163.com
Supported by:
This work was supported by the National Natural Science Foundation of China (51979193), the China Scholarship Council (201506290080), the China Postdoctoral Science Foundation (2019M653652), and the Natural Science Basic Research Plan in Shaanxi Province of China (2019JQ-607)

Abstract

Abstract:

Because of the low convergence efficiency of the typical Vicsek model, a Vicsek with static summoning points (VSSP) algorithm based on the Vicsek model considering static summoning points is proposed. Firstly, the mathematical model of the individual movement total cost on each summoning point is established. Then the individual classification rule is designed according to the initial state of the cluster to obtain the subclusters guided by each summoning point. Finally, the summoning factor is introduced to modify the course angle updating formula of the Vicsek model. To verify the effectiveness of the proposed algorithm and study the effect of the cluster summoning factor on the convergence rate, three groups of simulation experiments under different summoning factors are designed in this paper. To verify the superiority of the VSSP algorithm, the performance of the VSSP algorithm is compared with the classic algorithm by designing the algorithm performance comparison verification experiment. The results show that the algorithm proposed in this paper has good convergence and course angle consistency. The summoning factor is the sensitive factor of cluster convergence. This algorithm can provide a reference for efficient cluster segmentation movement.

Key words: static summoning point, Vicsek model, summoning factor, cluster system

Yan MA, Zhaoyong MAO, Jian QIN, Xiangyao MENG, Yujie XIAO, Jianhua CHEN, Wei FENG. Cluster segmentation algorithm based on the Vicsek with static summoning points[J]. Journal of Systems Engineering and Electronics, 2021, 32(3): 607-618.

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Parameter	Number of individuals	VSSP	Olfati-Saber	Vicsek
T_c	N=100	8	25	62
	N=400	6	48	70
	N=700	9	65	83

Cluster segmentation algorithm based on the Vicsek with static summoning points

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Parameter	Number of summoning points	VSSP	Olfati-Saber	Vicsek
T_c	P=2	5	12	18
	P=4	6	21	29
	P=6	9	53	64
	P=8	12	65	89