基于盲区概念减少通信量的多AUV编队控制

摘要

For implementing the cooperative formation control of multiple autonomous underwater vehicles (AUVs) in complex underwater environments, designed a distributed control law based on artificial potential field and virtual leaders with blind area. A feedback control law is given for pre-specified formation of AUVs in an obstacle-free environment, the formation control law based on virtual leaders with blind area for reducing communication requirements was studied, and a mathematic model of the formation control for AUVs was established. The feedback control law for pre-specified formation can achieve flocking for a group of AUVs in an obstacle-free environment and lead to reduced communication requirements. The efficiency of the proposed control law was validated by simulation experiment.%针对在水下复杂环境中编队控制多AUV协作的问题,设计一种使用人工势场和虚拟领航者并引入盲区设计的多AUV分布式协作控制方法.介绍一种用于AUV集群在无障碍条件下的形成期望编队的反馈控制规律,详细分析了基于虚拟领航者和盲区概念以减少通信量的控制规则,建立了AUV编队的数学模型,通过反馈控制完成AUV集群的预定编队,在无障碍环境下达成一种能减少通信量的AUV编队的协调与控制.仿真实验结果验证了该编队控制律的有效性.