Autonomous Cooperation Strategy Of Multiple Underwater Robots Based On Bionic Behavior

With the development of multiple underwater robots and technological progress,the collaborative control of multiple underwater robots has become an important research direction of multiple underwater robot systems.The formation control problem is the basis for multiple AUVs to perform complex collaborative tasks.According to different task needs and environments,researchers have proposed a variety of control methods to solve the formation control problem of multiple AUVs.But so far,there is no mature theoretical framework that can be used to guide the formation control problems of multiple AUVs,and the formation control algorithms are often only designed for specific formation tasks,so the multiple AUV systems are not flexible enough.Taking into account the characteristics of underwater acoustic communication,the complexity of the underwater environment,and the application scenarios of multiple underwater robot formation control,the main contents of this paper are as follows:(1)The formation control problem of needle multi-underwater robots is studied.Through the analysis of the swarming behavior of the biological group,the motion control of a single AUV is divided into position coordination items,speed coordination items,and navigation items.The swarm control algorithm of multiple underwater robots is verified by simulation.(2)The formation control method of multiple underwater robots based on the decomposition strategy is studied.The multiple underwater robots are decomposed into multiple sub-teams for formation control.The formation control method combining the pilot following method and the behavior-based method is used to control the formation of multiple underwater robots.A mathematical model is established for the robot formation problem,and the controller of the sub-team is designed using the Lyapunov function,and finally a biologically inspired model is introduced for smoothing.At the same time,the behavior decomposition strategy of multiple underwater robots is studied,and a communication protocol suitable for this control mode is designed.Finally,it was verified by simulation and lake test.(3)In view of the underwater acoustic communication delay,communication packet loss,and changing topology,the stability of the formation control of multiple underwater robots is analyzed,and the designed formation control algorithm is optimized and tested and verified.(4)The simulation environment is mainly written through MFC,and the designed algorithm is simulated and tested and experiments on the lake are performed.