障碍物环境下的多AUV主从式编队控制

陈 伟; 严卫生; 崔荣鑫

doi:10.11993/j.issn.1673-1948.2013.06.008

障碍物环境下的多AUV主从式编队控制

doi: 10.11993/j.issn.1673-1948.2013.06.008

西北工业大学航海学院, 陕西西安, 710072

基金项目: 国家自然科学基金资助项目(51109179, 50979093)

详细信息

作者简介:
陈伟(1987-), 男, 在读博士, 研究方向为移动长基线定位技术及智能编队.

中图分类号: TP630.33; TP242.3
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- 文章访问数: 1130
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- 被引次数: 0
出版历程
- 收稿日期: 2013-03-29
- 修回日期: 2013-04-08
- 刊出日期: 2013-12-20

Multi-AUV Leader-Follower Formation Control in Obstacle Environment

College of Marine Engineering, Northwestern Ploytechnical University, Xi′an 710072, China

摘要

摘要: 针对当环境中存在障碍物时, Leader-Follower编队控制中的Follower可能会与障碍物相撞的问题, 提出了一种障碍物环境下的多自主水下航行器(AUV)主从式编队控制方法。首先, 提出了一种通过改变AUV编队目标点的避障方法, 并对其进行数学模型的建立和解析。然后, 在Leader-Follower编队控制中, 基于级联方法, 研究了欠驱动AUV的编队控制问题。将Follower跟踪系统分解为相互级联的位置跟踪系统和航向角跟踪系统, 推导出保证系统全局一致渐近稳定的控制参数。仿真结果表明, 该方法具有良好的避障和编队控制效果, 控制设计可以保证闭环系统渐近稳定, 是有效的和可行的。
- 自主水下航行器 /
- 编队控制 /
- 主从式 /
- 障碍物
Abstract: When obstacles exist in the environment, the follower in a leader-follower formation may collide with the obstacles. To solve this problem, we put forward a multi-AUV leader-follower formation control method for obstacles environment to avoid obstacle by changing multi-AUV formation target, and establish a corresponding mathematical model. For the leader-follower formation control, the underactuated multi-AUV formation control is analyzed based on cascading method. The follower tracking system is decomposed into mutually cascaded position tracking system and heading angle tracking system. The control parameters that make system global uniform and asymptotic stable are de-rived. Simulation results show that the proposed formation control is effective in obstacle avoidance, and the control design can guarantee asymptotic stability of closed loop system.
- autonomous underwater vehicle /
- formation control /
- leader-follower /
- obstacle

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参考文献(11)

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