基于路径参数一致的水下机器人编队与避障控制

苏震; 刘殿勇; 孙达智; 梁霄

doi:10.11959/j.issn.2096-6652.202253

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基于路径参数一致的水下机器人编队与避障控制

专题：水下机器人 | 更新时间：2024-06-05

- 基于路径参数一致的水下机器人编队与避障控制
- Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles
- 智能科学与技术学报 2022年4卷第4期页码：533-541
- 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：
  
  [ "苏震（1975- ），男，珠海云洲智能科技股份有限公司工业发展部工程师，主要研究方向为无人集群控制与决策" ]
  [ "刘殿勇（1987- ），男，大连海事大学船舶与海洋工程学院讲师、硕士生导师，主要研究方向为无人艇运动控制" ]
  [ "孙达智（2001- ），男，大连海事大学船舶与海洋工程学院硕士生，主要研究方向为无人艇集群决策与控制" ]
  [ "梁霄（1980- ），男，博士，大连海事大学船舶与海洋工程学院教授、博士生导师，主要研究方向为海上无人系统群智协同技术" ]
- 基金信息：
  
  国家自然科学基金资助项目;The National Natural Science Foundation of China(52271302)
- DOI：10.11959/j.issn.2096-6652.202253
  中图分类号： TP24
- 网络出版日期：2022-12，
  
  纸质出版日期：2022-12-15
- 稿件说明：
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苏震, 刘殿勇, 孙达智, 等. 基于路径参数一致的水下机器人编队与避障控制[J]. 智能科学与技术学报, 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.
苏震, 刘殿勇, 孙达智, 等. 基于路径参数一致的水下机器人编队与避障控制[J]. 智能科学与技术学报, 2022,4(4):533-541. DOI： 10.11959/j.issn.2096-6652.202253.

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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