多水下机器人的协调规划策略研究

Research on Coordination Strategies of Multiple AUVs

以对策论为基础，从理论上分析了多水下机器人的运动协调机制，建立了多水下机器人运动协调问题的数学模型；以此为基础。

In this paper,the mechanism of multiple AUVs coordination is studied based on the game theory and a mathematical model frame of motion coordination is established.Based on the model,an algorithm that determines all of the optimal coordination strategies is presented.The coordination simulations of 2AUVs show the effectiveness of the algorithm.