Simulation Of ROBOFISH Formation Control

With the gradual reduction of the land resources, the great value of the marine resources has attracted more and more attention. In this environment, the underwater robot technology emerges. The research on the underwater biomimetic robot fish has become the focus of many research scholars at home and abroad, but the inquiry of the cooperative control aspects is not deep enough. The formation control is a basic technology collaboration, and has a profound theory value and practical significance.This thesis study on the formation control problem based on the underwater biomimetic robot fish. During the study, respectively, put forward the new control methods that are applied to the formation generation, formation keeping and obstacle avoidance. The experiments that are carried out in the Matlab show that the proposed algorithm is stability and can be used.The bionic robot fish system is controlled based on the topological structure of centralized. The formation is established based on the allocation of the target point. If the target position is accounted for, the robot fish not only automatically change another goal, but also ensure that the journey is the shortest. In the research on formation keeping, design the feedback controller based on fuzzy control algorithm, introduce to the general Leader-Follower algorithm and solve the lack of feedback between Leader and Follower. Simulation results show that the proposed method has good control effectiveness and operability.In the formation control, present an obstacle avoidance strategy based on ant colony algorithm. By determining the information intensity on target and the rules of bionic fish state transitions, and adjusting the real-time dynamic obstacle avoidance function, realize the whole system obstacle avoidance. Simulation experiments show that the obstacle avoidance method can be used.