利用局部感知和有限通信相结合实现多自主式水下机器人编队

To realize formation of multi autonomous underwater vehicles using local perception and limited communication

水下机器人是深海探测的重要工具,通过多个机器人之间的协作可以完成复杂的探测工作。本文主要是研究多自主式水下机器人的编队,首选阐述局部感知和有限通信,然后将二者相结合来解决集群机器人之间的通信和避碰问题,最后进行不同编队情况下多机器人编队的保持度实验。

Underwater robot is an important tool for deep sea exploration. Multiple robots can perform more complex tasks in the deep sea. In this paper, mainly study the formation of multiple autonomous underwater vehicles. Firstly, describe the local perception and limited communication, which were combined to solve the collision problem between cluster communication and robot. At last, the experiment of multi robot formation was carried out under different formation conditions.