Research On Method Of Multi-AUV System Area Coverage Control For Terrain Survey Mission

The ocean has the potential for the development of space. However, human beings arenot suited to explore the underwater environment. Therefore, AUV (Autonomous UnderwaterVehicle) is widely used for underwater exploration. Single AUV likely could not finish a verycomplex task, so multi-AUV system gradually emerged for research. The establishment ofreasonable multi-coordination mechanism between the AUV can improve the defects of asingle AUV on functions, as well as, this kind of interaction between the AUV are able toimprove the operating efficiency. The ocean topography must be surveyed when AUV systemis used for ocean development, and the basis of the survey is to achieve full coverage of theocean. Consequently, the area coverage control methods for multi-AUV are graduallyresearched in-depth.The detection and coverage of the large area can be achieved by multi-AUV in shortertime and larger range, and this can improve the efficiency which uses a signal AUV. Themulti-AUV area coverage issue becomes the emphasis in terrain survey. This paper focuses onthe study of the local path planning problem and area coverage control method for multi-AUVcooperation system which carries on terrain survey mission. As well as a simulation platformis built to verify the effectiveness of area coverage control method.This paper mainly researches in the following areas:Firstly, the local path planning problem of AUV is discussed. The domain model offorward looking sonar is established to detect obstacles. Then a new fusion algorithm whichfuses particle swarm and ant colony algorithm is designed through the comparison of the twoalgorithms. The simulation for the three algorithms is built based on Qt.Secondly, aiming at the area coverage control problem of AUV in partially knownenvironment, the AUV model, terrain model and external interference model are taken intoaccount, as well as the effective exploring width is calculated under environmentalinterference. Meanwhile the area coverage control method is designed which is based on theeffective exploring width.Thirdly, for the area coverage control of multi-AUV cooperation system a dynamic roleassignment mechanism is proposed to make each AUV cooperatively finish the task. In thismethod, AUV is divided into two roles. Moreover, the control method performance of the areacoverage control method is evaluated. The improved method is verified through thesimulation platform based on Qt. Finally, based on Creator and Vega Prime the three-dimensional simulation platform ofarea coverage control for multi-AUV cooperation system is established. The modelingprocesses for AUV and survey area are described in detail, as well as the program process ofdeveloping three-dimensional simulation platform based on Vega Prime. The simulationverifiability in the simulated three-dimensional ocean environment is built to verify the areacoverage control method. The results show that: the area coverage control method formulti-AUV cooperation system which is proposed in this paper is able to achieve thecoverage of the survey area effectively.