The Research On Distributed Formation Control Algorithm Of Multiple Biomimetic Robotic Fish

The Multi-robot fish cooperative control problems is one of the main research directions in the field of multi-robot system, which is characterized by cooperation between multiple robot fish, a group of simple structure robot fish could complete some complex tasks, in military reconnaissance, water environment monitoring, sea rescue and other fields have broad application prospects. This paper mainly aim at distributed formation control algorithm for multi-robot fish, the main contents include follower:Firstly, we give a distributed formation control algorithms for Multi-robot fish. The proposed method utilizes a hierarchical structure. Proposes a control method based on the theory of second-order control consistency to estimate the information of its neighbor position and velocity, and determining a desired position and speed the next time. In addition, we gives conditions the formation conformation and maintenance based on the formation of local information. The designed Fuzzy controller of each robot fish can accurately track the desired position and orientation. The test results show that the proposed algorithm can overcome the uncertainties of the water environment, and achieve the conformation and maintenance of the formation.Secondly, we propose a distributed formation control algorithms which individual avoid collision can be achieved between Multi-robot fish. By adding potential function term to second order consensus algorithm, the information fusion module achieve collision avoidance between individuals. In behavior control layers, we designed central pattern generator CPG(Central Pattern Generator) for each robot fish, which making the dynamics control system transform into swing and phase variables control of single robotic fish, and ultimately achieve formation cooperative control. The experimental results verify its effectiveness.Finally, we set up a cooperative distributed control platform for Multi-robot fish. Via Modular functions design, the PC functional module moving to Multi-robot fish control systems, and achieved the distributed framework of various tasks based on autonomous swimming robotic fish under a global PC monitor. By introducing GPS/Beidou satellite navigation system, as well as information transmission method between robotic fish, we build a hierarchical distributed network system based on Multi-robot fish, which laid the foundation for industrial application of Multi-robot fish system.