| The content elaborated in the thesis is the team formation technique of Autonomous Underwater Vehicle in the 2 dimensions field with obstacles. The following aspects are investigated and discussed.First, the architecture structure of the multi-robots' cooperation is studied. In the thesis, the existing problems of architecture structure of single robot system when multi-robot tasks are carried out are pointed out. The architecture structure of single robot system is extended to adapt multi-robot's tasks.Then the plan methods of every level in system are investigated in detail. The first level is task-planning level. Space-time table is used to solve the problems of multi-robots' cooperation and coordination. The second level is behavior-planning level. Every behavior is evaluated by obstacle-avoiding module and formation-controlling module individually. Two values are added up with weight. The third level is perception level. It has two modules: processing module for sensor information and communication module. The sub-path of each robot is divided and marked based on memory to make the system adaptable to the environment.Finally, the simulation system is built to realize the multi-robot system and the feasibility of all algorithms is verified further.
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