小型无人艇编队的多任务协同控制方法  

Research on multi-task cooperative control method for small unmanned boat formation

作　　者：曾宏 张伟斌 张云飞 胡建祥 ZENG Hong;ZHANG Wei-bin;ZHAO Ji-cheng;LUO Peng-fei(Zhuhai Yunzhou Intelligent Technology Co.,Ltd.R&D Center,Zhuhai 519000,China;Equipment Project Management Center of Army Equipment Department,Beijing 100072,China)

机构地区：[1]珠海云洲智能科技股份有限公司,广东珠海519000 [2]陆军装备部装备项目管理中心,北京100072

出　　处：《舰船科学技术》2022年第9期69-74,共6页Ship Science and Technology

基　　金：国家重点研发计划资助项目(2018YFB1600400)。

摘　　要：针对小型水面无人艇编队的协同任务执行问题,提出一种适用于多个体、多任务协同分配的编队控制方法。为解决编队在同时执行多个任务时的成员自动分配问题,使用匈牙利算法进行最优分配计算,并设计一种距离与方位夹角耦合的任务耗费计算律;为了满足海洋测量任务中对梳子形编队转弯的功能需求,提出一种编队队形的自适应重构方法;针对无人艇编队成员的运动规划律问题,研究并设计一种适用于无人艇编队的期望航向与和航速规划律。最后通过编队航行仿真试验,对所设计方法的有效性进行了验证。Aiming at the cooperative task execution problem of small surface vehicle formation,a formation control method for multi-agent and multi-task allocation is proposed.First,in order to solve the problem of members’automatic assignment when execution multi-tasks at the same time,the Hungarian algorithm is used for optimal assignment calculation,and a task cost calculation law was designed using the coupling of distance and azimuth angle.Then,an adaptive formation reconstruction method is proposed to meet the function requirement of the comb-shape formation turning.Next,aiming at the problem of the motion planning law for formation members,a desired heading and velocity planning law is studied and designed.Finally,the effectiveness of the proposed method is verified by formation sailing simulations.the problem of cooreratice task execution for small surface vehicle.

关 键 词：无人艇 编队控制 队形重构 任务分配 

分 类 号：U661.43[交通运输工程—船舶及航道工程]