洋流干扰下的多自主水面无人船最优覆盖控制

摘要

A decentralized coverage control law is presented to drive a network of autonomous underwater vehicles ( ASVs) to an optimal coverage configuration in the ocean environment. Firstly, the transformation of Voronoi Parti-tion is proposed with the disturbance by ocean currents considered. The transformation recalculated the Voronoi Par-tition and the optimization localization. A controller is provided by introducing a kinematic algorithm to propagate ASVs throughout the network with arbitrary initial positions. The dynamical control law is then improved from the ki-nematic controller by employing the adaptive back-stepping techniques. Convergence and stability of ASV system are proved with Lyapunov stability theorem. Simulation results are presented to illustrate the effectiveness of these approaches.%针对洋流干扰下的多自主水面无人船（ ASV）对有限海洋环境进行覆盖监控的最优化问题，提出一种基于环境信息密度的分布式控制方法。该控制方法是在考虑洋流因素的情况下，以二阶Euler-Lagrange模型为控制模型的最优覆盖策略。首先建立基于欠驱动系统的最优覆盖模型，提出时变洋流干扰下的多ASV最优区域分配算法。在此基础上，针对ASV的欠驱动特性，综合应用运动学控制方法与Backstepping技术设计基于二阶Euler-lagrange方程的最优覆盖控制算法，并利用Lyapunov稳定性理论证明其稳定性。最后对多ASV最优覆盖网络进行仿真验证实验，实验结果表明该控制方法能够使多ASV在洋流干扰下从区域Q的任意初始位置收敛到最优覆盖配置。