Research On Formation Of Underwater Robot Based On Leader-Follower Model

In recent years,many relevant national policies have been formulated to meet the increasing demand for marine resources.Correspondingly,the exploration and utilization of the ocean has become more frequent.However,most traditional marine development processes that rely on the manual,remotely operated vehicles(ROVs)or autonomous underwater vehicles(AUVs)manners have many drawbacks.The schemas based on manual manners are always poorly secured,small-scale and expensive.ROV and AUV manners are also limited by the shortcomings such a s small scope,high cost and low efficiency.Compared to traditional manners,the cooperative formation of multiple underwater robots can effectively compensate for the above shortcomings.While multi-robot collaborative formation is mainly applied to robots on the ground,excellent solutions based on complex underwater scenarios are urgently needed.To solve these problems,a small underwater robot was designed and the prototype was developed accordingly in this project.Besides,the theoretical modeling was built and some related experimental research was carried out.A scheme of underwater robot formation based on the leader-follower model was proposed in this paper.The characteristics of the robot formation was studied and the problems that occurred during the application in the underwater environment was analyzed.The demand analysis of underwater robot formations was carried out,including the functional requirements of a single underwater robots,the movement characteristics requirements for the formation and the performance requirements for visual positioning.Based on these studies,the overall scheme of underwater robot formation was proposed,including the system of the single underwater robot,the kinematic control and the visual positioning of the formation.According to the overall scheme,the underwater robot platform was designed,and the kinematics and dynamics analysis of the single underwater robot was carried out.On this basis,the kinematics model of the underwater robot formation was built by using the leader-follower model.The linear feedback was applied to the dynamic error model of the underwater robot formation model.Then the kinematics and dynamics controller of the follower underwater robot was obtained,and it was verified by matlab simulation.The graph theory was used to describe multiple robot formations and analyze the two typical formation strategies.For the needs of the formation,visual splicing was performed on the designed visual platform to obtain a larger field of vision.Besides,the algorithm for relative positioning and absolute positioning of the vision system was designed.Based on the above scheme,a prototype platform consisting of three underwater robots was built and it has been implanted with the corresponding program and manual interaction interface.The leader-follower formation experiments were conducted,and the visual field range and positioning accuracy of the visual platform were evaluated.