Cooperative control method of unmanned underwater vehicle cluster

The invention relates to the technical field of unmanned underwater vehicle clusters, in particular to a cooperative control method based on an unmanned underwater vehicle cluster. Comprising the steps of defining a coding and decoding mode of rich semantic content information by an unmanned underwater vehicle cluster under a weak communication condition; constructing a cooperative control software architecture which can be used in various cooperative scenes; establishing a master-slave switching mechanism of the unmanned underwater vehicle cluster based on a decentration thought; and finally, on the basis of information intercommunication, unified software architecture design and fixed role setting rules in the cluster, the online task planning and distribution method of the unmanned underwater vehicle cluster is realized, and the overall task completion efficiency under the cooperative operation condition is improved. 本发明涉及无人潜航器集群技术领域，具体地说是一种基于无人潜航器集群的协同控制方法。包括弱通信条件下无人潜航器集群定义丰富语义内容信息的编解码方式；构建可用于多种协同场景下的协同控制