Research On Multi-AUV Cluster Collaboration Mechanism Based On Distributed Cloud Coordination

In order to improve the anti-entry/area-denial capability in the battlefields,a distributed cloud cooperation framework based on multi-agent is built,and the collaborative operation between heterogeneous systems and multi-AUV cluster coordination control is realized.For distributed cloud coordination of future combat systems,this paper designed the AUV organization form and management mode.Through the movement of AUV underactuated characteristic and limited communication environment and AUV underwater special tasks requirements,collaborative control algorithm,implicit coordination tasks planning algorithm and the formation control method of multi-AUV cluster are researched in-deepth.Firstly,a multi-AUV cluster coordination control research platform is built in this paper.This paper designed micro AUV,with underactuated,small size,low cost and modular design and other advantages.This paper introduced the configuration and structure of control system hardware and software in detail.The dynamic model and rigid body kinematic model of AUV are established,and the underlying motion control structures and corresponding PID parameter optimization algorithm are designed.Parameters of AUV model are given and the corresponding simulation is carried out to verify the motion performance of AUV.Secondly,a multi-AUV underwater distributed global situational awareness framework is designed.The information model of AUV is established,and the AUV underwater distributed cloud coordination framework is designed to realize the underwater situation awareness and fusion.This paper studied the organizational structure and management methods of multi-AUV,designs the role-based observation-decision-action coordination control algorithm and implicit cooperative algorithm,and realizes the perception-based coordination control algorithm among AUVs and the prediction of AUV actions and strategies.The contract network algorithm based on variable communication radius implements the multi-AUV role combination task planning algorithm in limited communication environment,and the effectiveness of the algorithm is verified by simulation.Finally,the intelligent multi-AUV formation control method is studied.An underactuated multi-AUV formation aggregation algorithm based on Dubins vector field is designed.An adaptive control algorithm of visual formation with under-actuated AUV is designed to detect the traversability of rigid bodies and realize the adaptive transformation of formation.Based on the model of leader-follower formation,the formation control law of following AUV is designed,and the acceleration of leader AUV is predicted.Limited communication is studied under the condition of fleet tracking control method,analysis and prove the formation stability of limited communication environment,design the fleet tracking control strategy and the predictive control algorithm,the simulation implements for formation of maneuvering target tracking control,and illustrates the fleet tracking control for formation fast convergence and adaptive control algorithm of the integrated visual formation.Through the above research,this paper has completed the comprehensive design and research of multi-AUV cluster collaboration from platform to architecture and algorithm under the distributed cloud collaboration system,which has important military value and engineering application significance in the field of multi-autonomous equipment cluster control.