The Study Of Method To Control The UUV Formation Bound By The Communication Distance

The research of UUV (Unmanned Underwater Vehicle)in the development of oceanic resources plays a vital role, and also has important military significance. The multi-UUV formation control system, because of its many advantages, becomes an important area of UUV development. This paper is to solve this problem, studying the coordinated formation control method based on multi-UUV acoustic communication. The following is the main focus:First, the structure of the robot system design and analysis for this paper, a layered hybrid architecture. The system is divided into four layers:the perception layer, the coordinated planning layer, the control processing layer and the executive layer. And the function of each layer will be respectively analyzed and explained. The same time, the subject of the architecture design operation modes were discussed.Secondly, the water UUV acoustic communication methods design. Through the acoustic propagation characteristics of acoustic network topology analysis and hierarchical approach, based on multiple UUV formation control system, the characteristics of the system will be designed for underwater acoustic communication network layer routing algorithm. This method brings in the concept of communication weight, and according to the design model of communication between the values of UUV, the UUV is very intuitive to choose a route sequence, to achieve inter-UUV fast, accurate transmission of information purposes.Again,the communication method, based on the design coordination of multi-UUV formation and collision avoidance control method, is studied and simulated. Through the analysis of the advantages and disadvantages, the artificial potential field will be obtained as an improved artificial potential field model. This improved model can avoid the traditional artificial potential field well in the minimum point so as to overcome the problem that the target point cannot reach the issue caused by the repulsive force of gravity. Then put the improved artificial potential field model into the use of the multiple UUV formation control system formation control and obstacle avoidance study, respectively in the formation control and obstacle avoidance for each of the various issues facing the analysis. And through the formation keeping, formation transformation, collision avoidance and other simulation cases, verify the design of improved artificial potential field model so as to control the whole system of multi-UUV formation control well, and fulfill the obstacle avoidance task of formation.Finally,the design and simulation, using the method of formation control and communication coordination for multi-UUV path. Through a case of no path to follow S-curve, this paper describes the importance of tracking the path, on basis of this,introduces the anti-step detailedly, and the step on the path of application of anti-tracking controller is designed to establish a suitable error tracking function. What's more,this paper proves the path tracking controller's asymptotic stability using Lyapunov stability theory. The simulation results shows the successful formation of multi-UUV control system of the formation tracking control coordination and Road King and verifies the accuracy of the designing method.