多AUV编队协调模糊控制策略

基金项目: 国家自然科学基金资助项目（60574088)

Fuzzy Control of Formation Coordination for Multiple AUVs

Department of Weaponry Engineering,Naval University of Engineering,Wuhan 430033,China

摘要: 针对海域不同障碍环境，从运动学特性出发，提出了一种多自主水下航行器(AUV)编队避障策略。该策略是在领航-跟随法的基础上，利用编队队形的几何关系，引入虚拟AUV，再采用模糊控制避障策略，使编队能顺利通过障碍物，到达目的地。同时该策略有很好的柔性性质，能够根据障碍环境信息的不同，编队系统能保持初始编队队形运动或者适时改变编队队形运动。仿真结果表明，该策略能有效引导AUV编队系统避障。
- 自主水下航行器(AUV) /
- 编队协调 /
- 模糊控制 /
- 避障
Abstract: Based on the method of leader-follower in formation control and the kinematic characteristics, a fuzzy control approach is presented for obstacle avoidance of multiple autonomous underwater vehicle (AUV) formation under different underwater environment. This fuzzy control approach adopts the geometric relations of formation and introduces a virtual AUV to make the formation pass obstacles and arrive at destination. The formation system can keep initial formation shape or change formation shape according to the information of the obstacles in the sea. Simulation result demonstrates the effectiveness of the presented approach.
- autonomous underwater vehicle(AUV) /
- formation coordination /
- fuzzy control /
- obstacle avoidance

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