Research On Cooperation Control Based On Market Framework For Multi-AUVs

Autonomous underwater vehicle (AUV) is a very important tool in exploring and utilizing resources in oceans as well as in accomplishing underwater tasks. As a key technology of AUV, the coordination of multiple AUVs has become the current research focus. The multiple AUVs system has more advantages than single AUV. In this paper a distributed cooperation control architecture and a strategy based on market basement are discussed.Firstly, the trend of multiple AUVs development and the research meaning are presented. Then a 3D0F AUV kinetic equation model is designed based on the need of multiple AUVs system. A new architecture of AUV is developed based on the hybrid character exhibited by AUV during its movement. The AUV regulates its behavior based on the information of sensors and supervisor AUV, and arranges its task when the situations change. So the AUV fits in the complicated and dynamic ocean environment, and is able to accomplish complex tasks. And the multiple AUVs system organizes its members in hierarchical distributed centralized structure. In this way they execute their task astronomically as well as synergic ally when it is needed. As for the cooperation method, the market framework is used, to provide a solution for the multiple AUV cooperation control.With the case of multiple AUVs system mapping an unknown ocean environment, the validity of the multiple AUVs system is proved by the simulation results...