Research On Application Of Multi-Agent In The Coordination Control For AUVs

Autonomous Underwater Vehicle (AUV) must make deduction and judgment from all kinds of unpredictable situation accurately and react to them quickly when working in complicated and dynamic ocean environment. The key of making effective system is to realize the intelligence and responsiveness furthest. A new architecture of AUV is developed based on the hybrid character exhibited by AUV during its movement. The AUV regulate its behavior based on the information of sensors and supervisor AUV, and arrange its task when the situations change. So the AUV fit in the complicated and dynamic ocean environment, and achieve complex task. Decision-making independently and supervise carried out by the means of communication with the supervisor is an outstanding aspect of the architecture.Multi-AUV system organize its members in hierarchical distributed centralized structure, which is the means of MAS, each AUV of the teams avoid obstacle and perform its task autonomically. They execute their task autonomically as well as synergically when it is needed. Every team of AUV has a supervisor. The supervisor is the coordinational plant, which we refer to as call-board dispatcher. The supervisor guides its group members by the command from mother ship and the state of group, and at the same time, the group members operate in different ways, thus the system exhibit self-organization character.At the end of the dissertation, first I describe the task of AUVs, and define several behaviors such as LaunchAUV, KeepPath ect, for the case of multiple AUV system mapping an unknown ocean environment. Then I picture the control logic of behavior during task, and develop the rule according the different phases. The rules are proved in emulation mode.