Formating Reshape Control Strategy for Multiple Amphibious Spherical Robots

It is difficult for a rigid formation composed of multiple robots to pass through a narrow waterway, which needs to be realized by formation reshape. The virtual linkage structure is used to solve the problem that the conventional virtual structure is not easy to deform. In order to ensure the robustness of formation control, a discrete information consistency algorithm is added to provide the desire trajectory, then controller will be used to track it. At the same time, due to the difficulty of hydrodynamic modeling and the large overshoot of PID (proportional integral differential) controller, the double loop controller based on ADRC (Auto Disturbance Rejection Controller) include position loop and speed loop is used to adjust the position, and the single loop controller is used to adjust the heading angle and depth. The results of simulation show that the three combined methods of 3D virtual linkage structure, discrete consensus and ADRC realize the formation reshape.