Research On Coordination Of Multiple Underwater Vehicles With Limited Communication

The coordination mechanism of multiple underwater vehicles is a popular part of under-water vehicle research.Formation means that multiple robots march with expected geometricshape and velocity in unknown environments. Formation control is a typical problem in thecoordination of multiple underwater vehicles and widely used in space seareh、ocean search、military search and so on.Coordination and communication are the most important parts of thecoordination mechanism of multiple robots. Coordination control of multiple underwatervehicles is restricted to low transmit rate、high data error probability and long transmit delay.Firstly,the paper introduces the underwater vehicle architecture and the research situationof the coordination of multiple underwater vehicles. Hybrid underwater vehicle architecturewhich can flexibly adapt to dynamically changing environment is designed. Characteristics ofsystem with limited communication and sensing model of underwater vehicle is introduced.Secondly,formation control of multiple underwater vehicles with limited communicati-on is investigated.The paper investigates and analyses the consensus algorithm,designsformation control method based on consensus. On the basis of analysis ofconsensus,organizational structure and organizational strategy of formation control isdesigned to keep the organization of formation,communication and formation coordinationstrategies is investigated to deal with impact of limited communication on formation tasks.Onthis basis,performance of multiple underwater vehicles system is improved.Finally,the simulation is introduced.Pioneer3robot and virtual robot is used to simulateunderwater vehicle formation conrol in lab environment and MoblieSim.Simulation result isanalysised and verifies the feasibility and effectiveness of underwater vehicle formationcoordination with limited communication.