Autonomous Underwater Vehicle Modeling And Circular Formation Control

With the development of science and technology, the design of single robot is becoming more and more mature. Robots have been developed to miniaturization, hybridization, remote sensing, intelligence and agreement. In the underwater practical application, facing the complex environment, single robot is difficult or even unable to complete the task. Therefore, the cooperation of multi-agents is very important. Combining with circular formation algorithm, the contraction and translation matrix of affine transformation are available. Then the product of the contraction and translation matrix achieve the formation of multi-agents at the same time.Firstly, the model of rigid body is introduced. By analyzing the motion equations of six degrees of freedom and three degrees of freedom, the unicycle model is obtained.Secondly, based on the unicycle model, a new uniformly distributed algorithm of circular formation is obtained, combining with the consistency algorithm. The multi-agents form a circular formation and uniform distribution. The simulation results are given with Matlab software.Finally, the basic principle and method of affine transform are introduced. Respectively combining with circular formation algorithm, the contraction and translation matrix of affine transformation are used to achieve circular formation movement state. Then the product of the contraction and translation matrix achieve the formation of multi-agents at the same time. Simulation is also given to verify the correctness of the algorithm.