The Development Of Control System Of Autonomous Underwater Vehicle And The Study On Formation Control

The development of robot technique leads to its widespread application in many fields. Multi-robot system is new aspect of robot technique. By using several relative simple robots, multi-robot cooperation technique makes robot application in complex environment to be practical. At the same time, the robot system is more flexible and robustness. Multi-robot formation is one aspect of multi-robot coordination. In this paper, several aspects are proposed including system architecture, control system development, path following, and formation control algorithm using constraint functions. The main contributions are as follows:1. Control system architecture of AUV (Autonomous Underwater Vehicle). Design new layered control system architecture for multi-robot system. The architecture consists of planning coordination layer, control layer, and execution layer. Three layers are described separately in detail.2. The development of control system software of AUV. The design of control layer software based on uC/OS is proposed. The software fulfills the layered control system architecture.3. The test of control system of AUV. A test method of CAN bus system is introduced based on CANoe. The method is used for testing CAN bus system of AUV. Design an AUV real-time simulator which is used for testing control system of AUV in closed loop simulation test.4. Formation control of multi-robot system. In this part, path planning based on dynamic planning, path following algorithm in 2D, formation control algorithm using constraint function are described.5. The simulation of formation control algorithm with matlab. The simulation results show that the formation control algorithm is stable and efficient.