Study on Cooperative Control Algorithm of Two Spherical Amphibious Robots

Abstract

Amphibious spherical robot moving in a confined space or turbid water must have an effective motion control device and optimized algorithms. This paper proposed a control strategy for two amphibious robots in order to maintain a long time-parameterized path when the robot is moving underwater. Inspired by the biological phenomenon, this paper designs an artificial cooperative mode for two amphibious robots. The control method is based on underwater environment and we also take a detailed mechanical analysis of the thrust device, so the direction of the robot can be adjusted in real time according to the stability module, the purpose of cooperation between the two robots can be achieved. At the end of the paper, the underwater experiment is performed to analyze the cooperation and control system in order to give the best solution for cooperation and motion control methods of two robots.