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中文摘要：
对多自主水下航行器编队任务进行了概述，针对编队问题和目前常用的编队方法，提出了基于领航者法的分层式编队控制技术，将人工势场法引入到编队控制行为中，提高了AUVs编队的协调性与协作性，增强了编队体系的环境自适应能力。最后，通过仿真实现了多种编队案例，验证了算法的合理性和实用性。
英文摘要：
In this paper, formation tasks are proposed briefly, and according to lbrmatlon problems and constantly-used formation methods, a hierarchical formation technology based on leader is designed for autonomous underwater vehicles, artificial potential method is introduced into formation behavior controlling, the capabilities of coordination and cooperation could be improved, self-adaptive ability in the unknown complicated environment for formation systems could be inhaneed. Finally, several formation cases are shown, the reasonability and practicability of the algorithm is verified through simulating platform.
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