Study of Multiple Robotic Fishes Formation Strategy Based on Behavior Planning Method

摘要

Multiple robotic fish formation control is the basic of helping mankind to achieve water exploration,rescue missions and so on. The purpose of this paper is to form a formation of robotic fish safety collision,and keep the formation reaching the target area. This paper proposed a formation control method based on behavior planning,and this method decomposed the bionic robotic fish formation into normal movement,formation,collision avoidance obstacle avoidance and recovery of four sub formation behaviors. The initial stage of formation,a leader as a reference point is formed based on ideological formation; in the stage of collision avoidance obstacle,the direction of motion behavior of reference vector method constrains the robot fish to ensure that the robot fish can avoid the obstacle safety;when the formation is disrupted,the robotic fishes recove the formation fastly according to the reference points as which the robotic fishes take each other.. The algorithm was simulated for validation on the robotic fish platform of underwater 2D simulation. The experimental results show that,the multiple robotic fishes under the condition of safety collision avoidance can effectively achieve the formation behavior.