Research On Task Assignment And Group Behavior Control Of Multi-Robot Fish System

With the development and utilization of the ocean,underwater robots have become an indispensable tool for ocean exploration and research.The underwater bionic robot has excellent characteristics such as high efficiency,flexibility and concealment,which provides convenient conditions for human exploration of the marine environment and development of marine resources.Of course,the marine environment is complex and changeable,and it is difficult for a single underwater robot to complete the task of exploring the ocean.Compared with it,multiple underwater bionic robots can complete more complex tasks.With excellent swimming ability and adaptability,robot fish shows its superiority in the face of complex underwater environment.Therefore,multiple underwater bionic robots use robot fish to form a multi-robot system.The key of the multi-robot system is the coordinated control of various robotic fishes.Therefore,the collaborative work of multi-robots has always been a research hotspot.This topic takes the marine monitoring of multi-bionic robot fish as the application background.In view of the coordinated control of multi-robot fish,the system architecture,task allocation and obstacle avoidance of multi-robot fish system are studied.1.In the complex marine environment,because of the water environment,the vision of robot fish is easily disturbed.Therefore,a compensation control algorithm is proposed for the short-term vision loss of robot fish.The algorithm is mainly composed of three parts.One is the state determination based on the quadratic filtering method,the other is the straight line tracking method based on the semi closed loop control,and the third is the arc tangent method.The experimental results show that the algorithm can realize the motion control of robot fish in the case of losing vision.2.In order to improve the efficiency of multi robot fish system to complete tasks,ant colony algorithm is used to establish task allocation system for multi robot fish system.In the process of task allocation,energy consumption function and range distance function are set as evaluation indexes to achieve the optimal task allocation.The simulation results show that the ant colony algorithm can effectively improve the task allocation efficiency of the multi machine fish system,and it can also be seen that the effective and reasonable task allocation can greatly improve the work efficiency.3.The formation control of the multi robot fish system adopts the potential energy function to design the control strategy.The control strategy can make the motion direction of multiple robot fish converge to the same direction,the speed converges to the same value,and the robot fish can not collide with each other.There are obstacles in the unknown water environment.The principle of artificial potential field method can be used to make the multi robot fish system avoid the obstacles.The obstacles have the overall repulsion to the multi robot fish system,and the target point is attractive to the whole multi robot fish system.Designing a proper potential energy function can make the multi robot fish system pass through the obstacles smoothly.Simulation results show that the algorithm can avoid obstacles in unknown water environment.