基于动态目标点协同的无人艇编队路径规划  

USV formation path planning based on coordinated dynamic target point strategy

作　　者：郝金玉 范雪 杨少龙 赵三飞[3] 卢忆文 HAO Jinyu;FAN Xue;YANG Shaolong;ZHAO Sanfei;LU Yiwen(Navy Force Representative Bureau in Dalian,Dalian 116000,China;School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;China Ship Development and Design Center,Wuhan 430064,China)

机构地区：[1]驻大连地区第一军事代表室,辽宁大连116000 [2]华中科技大学船舶与海洋工程学院,武汉430074 [3]中国舰船研究设计中心,武汉430064

出　　处：《兵器装备工程学报》2022年第9期1-8,共8页Journal of Ordnance Equipment Engineering

基　　金：中央高校基本科研业务费专项资金项目(2018KFYYXJJ015);船舶综合电力技术重点实验室项目(614221720200203);2021年第二批教育部产学合作协同育人项目(202102063009)。

摘　　要：针对无向通信拓扑下的无人艇集群编队控制问题,提出基于领航-跟随模式协同和人工势场避障相结合的无人艇协同编队控制算法。针对特定编队队形输出动态多目标点优化航路,通过分层设计框架传递至无人艇LOS-PID底层跟踪控制算法。将无人艇编队任务解耦成基于协同编队算法的无人艇动态多质点编队规划层和基于LOS-PID算法的无人艇动态单目标点跟踪的控制层。规划层中领航者-跟随者算法实现质点刚性编队队形融入人工势场实现避碰,实时生成协同任务的动态多目标点作为底层单艇控制的跟踪目标点,仿真验证表明,所提算法实现了直线和圆弧的协同编队任务,取得了较好的队形稳定性和安全性。Aiming at the issue of USV formation control under undirected communication topology,a collaborative formation control algorithm is proposed based on the combination of leader-follower mode collaboration and artificial potential field obstacle avoidance.The path is optimized by the dynamic multi-target point output for the specific formation,and the underlying tracking control algorithm LOS-PID is transmitted through the hierarchical design framework.The USV formation task is decoupled into a dynamic multi-mass formation planning layer based on collaborative formation algorithm and a control layer,in which,USV follows dynamic single-target point based on LOS-PID algorithm.In the planning layer,the leader-follower algorithm realizes the rigid formation of the particle into the artificial potential field to avoid collisions,generating the dynamic multi-target point of the collaborative task in real time as the following target point controlled by the underlying single USV,simulation verification showing that the proposed algorithm can realize the cooperative formation task of straight line and arc,and achieve good formation stability and safety effects.

关 键 词：无人艇编队 领航者-跟随者算法 人工势场算法 分层控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]