Research On The Coordination Method Of AUVs Based On MAS

Coordination and cooperation are one of the most important topics in the study of Multi-Robot. Currently, the combination of agent theory and technology with the research of robot is very popular. This paper mainly focuses on the study of coordination and cooperation method of Multi-Robot on the background of patrolling and pursuing tasks of military AUVs in a two dimensional environment, and the guiding rule is MAS theory.As for the patrolling task, this paper puts forward a searching method based on threat degree, and the method promises that the patrolling robots can not only search the unknown protected sea but also the area where the intruders appear more frequently, so that the probability of finding the targets can be increased. The patrolling efficiency may decrease when many patrolling robots move to the same area with the highest threat degree, so coordination methods aimed to solve such a problem are also brought forward in the paper to improve the patrolling effect.After finding the targets, the tasks of many patrolling robots are transformed from patrolling the protected area to pursuing and surrounding the targets. As for the pursuing task, the cooperation mechanism based on Social Laws in MAS coordination theory is applied to group the patrolling robots and each group of robots corresponds to one target. Afterwards, a pursuing algorithm for one single target is presented, and the algorithm has increased the probability of success in the surrounding of intelligent intruders.Finally, a simulation system is built to realize the Multi-Robot system in the paper, and the feasibility and validity of all the algorithms is verified further.