Research on Collaborative Control and Path Planning Methods for Surface and Underwater Multi-agent Systems

In this paper, we study the path planning and control problem in surface and underwater multi-agent systems, propose a formation control method for efficient obstacle avoidance, and combine it with path planning to realize formation work. Firstly, an affine formation control algorithm for surface-underwater collaborative control is designed to realize the maneuvering control of the formation. Three obstacle avoidance schemes are proposed for effective obstacle avoidance based on the various obstacle distributions. Then, global path planning is carried out on the target area, and local path planning is carried out by using the A* algorithm combined with the obstacle avoidance strategy, and the results of the planning are optimized according to the demand. Finally, the effectiveness of the method is verified by simulation experiments.