Research On Technologies Of Coordination And Cooperation For Multiple Autonomous Underwater Vehicle System

An AUV is one of important tools for human being to understand and utilize resources in ocean. Multiple autonomous underwater vehicle system (MAUVS) is the important part of AUV research. Study on MAUVS is of significance and availability.We sum up the current research on multiple autonomous vehicle system and MAUVS. We summarize the key technologies, main research results and problems.An evaluation standard for MAUVS design and architecture for MAUVS are proposed respectively in complicated sea environment. Control methods are respectively given when the system communication is available and not.The coordination and cooperation framework among multiple autonomous vehicles is tightly related to the system architecture. The system dynamic organization and self-organization depend on different coordination and cooperation frameworks. The system architecture influences the choice of coordination and cooperation frameworks at the same time. We lucubrate on the system coordination and cooperation framework for the multiple AUV formation application. The single AUV kinematics control method in formation is proposed. An approach to formations of multiple AUV coordination based on praxeic utility theory is proposed to resolve the multiple target decision-making problem of MAUVS in course of formation coming into being. A practical framework to keeping formation control of MAUVS in a dynamic environment is proposed. We give the algorithm of formation planning coordination, environment exploration method, path acquirement method and trajectory generation method. It is shown that the approach is effective and feasible by the simulation of computer.It is discussed to communicate and its difficulties among multiple AUVs formation. Multiple AUVs communication system is established. We design a new protocol of MAC layer of the system communication protocol. The throughput and communication efficiency of the new protocol based on dispatch raise in contrast with the simple protocol based on competition. It is shown that the new protocol has more efficiency to some extent by the simulation of computer.Taken the underwater vehicle and mobile robots as test-bed, they fulfill given coordination and cooperation tasks. The two mobile robots do following test and push-box test respectively. The underwater vehicle does some experiments in the pool. These verify that the algorithm of formation planning coordination, path acquirement method and trajectory generation method are effective and feasible.