改进虚拟领航者在多AUV队形控制中的应用  

Application of Optimized Virtual Leader in Multi-AUV Formation Control

作　　者：杨洋 王征[1] 周帅[1] 尹洋[1] YANG Yang;WANG Zheng;ZHOU Shuai;YIN Yang(Naval University of Engineering,Wuhan 430000,China)

机构地区：[1]海军工程大学,武汉430000

出　　处：《电光与控制》2023年第2期19-23,30,共6页Electronics Optics & Control

基　　金：国家自然科学基金(41771487);湖北省杰出青年科学基金(2019CFA086)。

摘　　要：针对多AUV系统的传统领航者队形控制方法中存在的易受环境扰动影响和易崩溃等问题,提出了基于人工势场的改进虚拟领航者方法。设计了一种四层结构的编队体系分层框架,并对其中队形设计层与行为控制层进行了描述;分别针对虚拟领航者对AUV成员施加的斥力与引力、AUV成员间的斥力与引力、障碍物对AUV施加的斥力设计了适当的人工势场函数,并考虑了最大通信距离带来的约束。通过仿真验证,对比分析了传统领航者-跟随者法与改进虚拟领航者法的队形轨迹与位置偏差的误差曲线,证明了所设计的算法能完成队形控制任务,编队控制效果优于传统领航者方法。The traditional leader-based formation control method of multi-AUV system is susceptible to environmental disturbances and easy to collapse.To solve the problems,an improved virtual leader method based on artificial potential field is proposed.A four-layer framework of the formation system is designed,and the layers of formation design and behavior control are described.Appropriate artificial potential field functions are designed for the following three scenarios,that is,the repulsion and attraction exerted by the virtual leader on AUV members,the repulsion and attraction between AUV members,and the repulsive force exerted by obstacles on the AUV,and the constraints brought by the maximum communication distance are taken into consideration.Through simulation verification,the formation trajectory and position deviation curves of the traditional leader-follower method and the improved virtual leader method are compared and analyzed.It is proved that the designed algorithm can complete the formation control task,and the formation control effect is better than that of the traditional leader-based method.

关 键 词：多AUV系统 队形控制 虚拟领航者 人工势场 

分 类 号：TN913[电子电信—通信与信息系统]