多水下机器人编队控制  

Multi-underwater Robot Formation Control

作　　者：刘瑞轩 张永林[1] LIU Ruixuan;ZHANG Yonglin(School of Electrical and Information,Jiangsu University of Science and Technology,Zhenjiang 212003)

机构地区：[1]江苏科技大学电子信息学院,镇江212003

出　　处：《计算机与数字工程》2019年第2期349-353,共5页Computer & Digital Engineering

摘　　要：论文对水下机器人的编队控制进行研究,针对领航跟随法和基于行为法各自的缺点,论文将领航跟随法和基于行为法两种控制方法相结合,设计了多水下机器人队形控制的几种基本子行为奔向目标、避障碍物、避碰、保持队形,用粒子群算法优化几种行为方式构造的适应度函数,提高多水下机器人整体编队队形控制的容错性。通过Matlab仿真平台对队形形成、队形保持、队形变换进行仿真。从仿真实验结果表明,所提出的算法提高了编队队形控制的稳定性。In this paper,the formation control of underwater robots is studied. In view of the shortcomings of leader-followermethod and behavior-based method,this paper combines Leader-follower and behavior-based control methods to design that themulti-Several basic sub-behaviors are directed toward the target,avoiding obstacle,avoiding collision,maintaining the formation,and using the particle swarm optimization algorithm to optimize the fitness function of several behavior modes to improve the fault tol-erance of the whole formation control of multi-underwater robot. Through the Matlab simulation platform for the formation of forma-tion,formation to maintain,formation transformation simulation. The experimental results show that the proposed algorithm im-proves the stability of formation control.

关 键 词：多水下机器人 编队控制 粒子群算法 基于行为法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]