Multi-underwater Robot Formation Control
LIU Ruixuan
ZHANG Yonglin
Abstract：In this paper,the formation control of underwater robots is studied. In view of the shortcomings of leader-follower method and behavior-based method,this paper combines Leader-follower and behavior-based control methods to design that the multi-Several basic sub-behaviors are directed toward the target,avoiding obstacle,avoiding collision,maintaining the formation, and using the particle swarm optimization algorithm to optimize the fitness function of several behavior modes to improve the fault tol?erance of the whole formation control of multi-underwater robot. Through the Matlab simulation platform for the formation of forma?tion,formation to maintain,formation transformation simulation. The experimental results show that the proposed algorithm im?proves the stability of formation control.
Keywords：multi-underwater robotformation controlparticle swarm optimizationbehavior-based method
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 349-353 )