Three-Dimensional Persistent Topology Generation and Optimal Control of Autonomous Underwater Vehicle Formation
Zexing Tian, Jing Yan, Xian Yang, Xiaoyuan Luo · 2023
Formation generation and control of autonomous underwater vehicle (AUV) is one of the hot topics in multi-robot formation research. Aiming at the problem of communication energy consumption of AUV formation, this paper first uses rigid graph to generate the optimal persistent formation topology of AUV formation, which effectively reduces the number of communication links and energy consumption of formation, and gives the formation topology generation algorithm. Then, considering AUV model, the optimal control method of formation is given by using reinforcement learning strategy iteration. Finally, the simulation results show the effectiveness of the algorithm.