Research On Multi-AUV Formation Control Under Communication Constraints

In order to better explore and develop the ocean,Autonomous Underwater Vehicle(AUV)has been developed by scholars.With the gradual development of ocean exploration,however,human consciousness to a single AUV due to communication,control,energy shortage,it is often difficult to achieve and meet these complex tasks and requirements,so scholars turned to AUV underwater collaborative study,more collaborative technology of AUV system makes each AUV mutual collaboration in the group,together to complete the task.This paper studies the multi-AUV formation control under communication constraints,mainly including the following points:1.this paper choose a certain type of AUV as the research object,horizontal plane dynamics and kinematics model is established,then combined with the line of sight guidance in AUV path tracking error equation of dynamics and kinematics,using dynamic sliding mode surface of AUV heading Angle and speed controller was designed,based on the Matlab software simulation prove the validity of the controller.2.leading to follow based on target tracking method is difficult to estimate of the target recognition and target state,the AUV formation based on path tracking control,through the expectation fleet tracking path for pilot AUV and follower AUV is designed to track the reference path,then the path tracking controller under the action of all the AUV can track the reference path,and then designs for the follower AUV formation coordinated controller,controls the speed of the AUV following in order to control AUV following with pilot AUV formation constitute a desired formation.This method reduces the data exchange between leader and follower.3.underwater electromagnetic wave communication system is studied,and the underwater quantum communication system and underwater acoustic communication system,and compares the three kinds of communication system in communication distance,communication speed,communication delay,bit error rate of communication,etc.,and studied two kinds of communication mode,and in view of the high latency,underwater acoustic communication high bit error rate,high presented.according to long cycle time and communication of design in this paper the formation control of AUV team formation,the influence of the final communication constraints of formation is verified by the simulation error,follower velocity of AUV,the specific effects of thrust.4.Studied the kalman filter algorithm and extended kalman filter algorithm,aimed at the limitations of the extended kalman filter algorithm,and analyzed the existing improvements to the extended kalman filter algorithm.Then,multiple state-noise covariance matrixes are designed to improve the algorithm.Finally,based on the registration of AUV position of the pilot before and after the improvement,the multi-auv formation control under the communication constraint is simulated and verified,which proves that the improved algorithm can ensure the formation still has a good formation effect when the formation is in path switching.5.in view of the problems in the communication cycle long communication constraints,and improved extended kalman filtering can predict every moment leading AUV information,data fitting is studied,according to the underactuated leading the direction of movement of AUV continuity on the space in a short time,put forward by data fitting leading AUV past time data,the method of get pilot AUV position and the function curve of time,thus predicting get pilot AUV position of every moment.Finally,the simulation results show that the multi-auv formation control under the communication constraint can meet the requirements.