Abstract: In order to realize cooperative control of underwater imitation box fish group, reduce the energy loss caused by the load imbalance among the network nodes, and improve the group endurance, we proposed a load balancing clustering control algorithm based on logical partition. Firstly, local fast clustering was realized to reduce the number of maintenance messages between nodes and the overall cost of the system. Secondly, based on the logical partition strategy within the cluster, it realized multi-regional cooperative control of monitoring, support and reconnaissance, integrated scattered fish schools with minimum response time, optimized the network control system and improved the flexibility of networking. Finally, in the process of maintenance,  the role transformation mechanism of regional nodes was used to realize the network load balance. The effectiveness of the algorithm was verified by simulation clustering experiments, and the feasibility of the algorithm was verified by combining the three indicators of network energy consumption, network life cycle and energy balance.

Key words: group control, clustering algorithm, load balance, logical partition