多AUV主从式编队及避障控制方法  

Control of leader-follower formation and obstacle avoidance for Multi-AUV

作　　者：丁国华[1] 朱大奇[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306

出　　处：《高技术通讯》2014年第5期538-544,共7页Chinese High Technology Letters

基　　金：国家自然科学基金(51279098);上海市科委创新行动计划(13510721400);上海市教委科研创新研究重点项目(13ZZ123)资助

摘　　要：研究了自治水下机器人(AUV)主从式编队控制问题,提出了一种基于反步控制和人工势场的多AUV三维编队与避障方法,并实现了7AUV编队控制仿真和7AUV避障控制仿真。该方法利用领航者的位置信息,引入反步控制实现跟随AUV对虚拟AUV的轨迹跟踪,实现三维水下编队控制;结合人工势场的方法变换队形,有效地避开障碍物,顺利地通过障碍物区域。仿真研究表明,该方法编队时间短,差错率低,实现了预期的控制效果,验证了算法的有效性及实用性。The control of leader-follower formation of autonomous underwater vehicles （AUVs） was studied, and a method for three-dimensional formation and obstacle avoidance for multi-AUV based on backstepping control and artificial potential field was presented, and its simulations of the formation control and the obstacle avoidance for seven AUVs were conducted. The method uses the leader＇ s position information and introduces the backstepping control to realize the follower AUV＇ s tracking of the virtual AUV to achieve three dimensional underwater formation control, and combines with the artificial potential field method to transform the AUV formation to effectively avoid obstacles. The simulation results showed that the presented algorithm achieved the expected control effect, and verified the validity and the practicability of the algorithm.

关 键 词：自治水下机器人(AUV) 主从式 编队控制 反步控制 人工势场 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]