Triangle formation motion planning of underwater Multi-microrobot system

In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation methods and motion planning algorithms of several microrobots, and we analysis the motion of the group microrobots to avoid the obstacles when maintaining the triangle formation. At last, we use MATLAB to make the formation motional simulation of the microrobot system when following a desired trajectory or path. The simulation results can help to control the team of microrobots.