多AUV队形控制的新方法  

A novel method for formation control of multiple autonomous underwater vehicles(AUVs)

作　　者：吴小平[1] 冯正平[1] 朱继懋[1] 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200030

出　　处：《舰船科学技术》2008年第2期128-134,共7页Ship Science and Technology

摘　　要：基于机器人队形控制中的领航者-跟随者方法(Leader-Follower Method)和基于行为方法(Behavior-based Method),提出了一种用于多自治水下机器人(AUV)队形控制的新方法。该方法以领航者来确定整个AUV编队的前进状态,跟随者时刻跟随领航者以保持一定的队形形状。同时,领航者和跟随者都被赋予一定的行为特性以实现奔向目标、队形维持、队形转换及障碍避碰等功能。考虑到领航者在行进过程中有可能会发生意外而导致任务失败,本方法设定一特殊的跟随者令其作为候选领航者时刻跟随领航者以防万一。分别采用模糊规划器和Line of Sight(LOS)技术来实现AUV编队的障碍避碰和导航。This paper presents a novel method vehicles which based on conventional Leader-Follower method and Behavior-based method for formation control of multiple autonomous underwater. Leader specifies the moving of the formation and Followers followed Leader to form the desired formation. Behaviors are defined for the vehicles to realize goal reaching, formation maintaining, formation transformation and obstacle avoidance. A special Follower,i. e.,Leader Candidate is designed to make up for the possible failure of the Leader. The fuzzy logic obstacle avoidance planner and Line of Sight guidance law are employed during the moving of the formation.

关 键 词：多AUV 队形控制 LINE of SIGHT 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]