Research On Formation Control Of Multi AUV Formation Based On Underwater Reconnaissance Mission

Autonomous Underwater Vehicle(AUV)has shown a wide range of applications in marine resource exploration and underwater information gathering.When performing multi-AUV tasks such as submarine pipeline inspection,large-area target search,and submarine map building,multi-AUVs require the AUV to maintain its formation while navigating along the desired path or to transform its formation according to environmental constraints.In this paper,based on the completion of path tracking(linear path and curved path)of AUV,this paper studies the formation transformation of multi-AUV formations in obstacle environment,including the following aspects:First of all,according to the dynamic characteristics and kinematics characteristics of AUV,a 6-DOF kinematics and dynamics model of AUV is constructed.According to the design requirements of this paper,the established model is simplified,and the AUV horizontal plane motion model is obtained.verification.Secondly,the control problem of multi-AUV formation under linear path tracking is studied.The error model of single AUV path tracking is established by using the line-of-sight guidance method,and the controller is designed by the cascade and feedback linearization control method so that the longitudinal velocity error and the steering angle error are asymptotically stable.Aiming at the formation control of multi-AUV,a formative formation control method based on graph theory is used.This method can ensure the interaction of state information among AUVs and coordinate the controller by adjusting its speed design speed to realize the formation tracking control of the linear path.Thirdly,for the curve path,the velocity and position are required to be calmingly controlled in the neighborhood of the equilibrium point.However,the controller designed in the previous section can only guarantee the stabilization near the equilibrium point.Therefore,a tracking control strategy based on virtual reference point AUV kinematics and dynamics path-following controller can track position and velocity,then analyze the stability of the system by using Lyapunov direct method and input-state stability theorem,and improve the accuracy of path tracking.In the design of speed coordination controller,the topology of communication among multiple AUVs is constructed by using graph theory,and the coordination error model is constructed,and the formation tracking control of the curve path is realized.Finally,taking into account the complexity of the marine environment,the problem of collaborative path tracking for multi-AUV vehicles with environmental constraints is studied,mainly considering the impact of delay on coordinated control among multiple AUVs.A method based on logical communication is proposed,AUV designed an estimation module to estimate the coordination status of other AUVs in the formation and update the status information to achieve coordination among multiple AUVs.At the same time,taking into account that multi-AUV formations inevitably encounter obstacles during submarine missions,aiming at this situation,the performance of formation-optimized transform was established and a multi-AUV formation formation optimization Transform the obstacle avoidance strategy so that multi-AUVs can fully consider the environmental constraints during the process of maintaining formation formation,and determine formation formation based on the navigation environment.