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Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles
- Chinese Journal of Intelligent Science and Technology Vol. 4, Issue 4, Pages: 533-541(2022)
- 作者机构：
1. 珠海云洲智能科技股份有限公司工业发展部，广东 珠海 519080
2. 大连海事大学船舶与海洋工程学院，辽宁 大连 116026
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.202253
CLC： TP24-
Published Online：2022-12，
Published：15 December 2022
- 稿件说明：
移动端阅览
Zhen SU, Dianyong LIU, Dazhi SUN, et al. Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles[J]. Chinese journal of intelligent science and technology, 2022, 4(4): 533-541.
Zhen SU, Dianyong LIU, Dazhi SUN, et al. Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles[J]. Chinese journal of intelligent science and technology, 2022, 4(4): 533-541. DOI： 10.11959/j.issn.2096-6652.202253.
摘要
面向大范围、自主化的水下协同作业任务，研究了基于路径参数一致的水下机器人编队与避障控制问题。首先，构建基于虚拟结构的机器人编队误差模型，将路径引导下的编队控制解耦为路径跟踪控制与路径参数同步。其次，考虑机器人与虚拟参考点之间的路径跟踪控制，设计基于位置和速度误差反馈的个体跟踪控制律；考虑状态信息非全局已知的路径参数同步，设计基于路径参数一致的编队控制律；进一步考虑障碍物约束，利用人工势函数设计基于速度修正的避障控制律，实现机器人编队与避障控制。仿真结果表明，编队系统能够以期望队形跟踪给定参数化路径，且能够对障碍物进行有效规避。
Abstract
For large-scale and autonomous underwater cooperative work
the formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicle (AUV) were researched.Firstly
the formation error model was constructed using the virtual structure
which transformed the formation control guided by paths into path following control and path parameter synchronization.Then
to solve the path following control between vehicles and virtual reference points
following control laws of the individual vehicle were designed using feedback errors of positions and velocities.To solve the path parameter synchronization under knowing partial state information
formation control laws were designed using path parameter consensus.And considering the obstacle constraints
obstacle avoidance control laws based on velocity correction were employed by the aid of artificial potential function.Simulation results showed that AUVs could follow the desired parametric path with the desired formation and avoid obstacles using the proposed method.
关键词
Keywords
references
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