基于势博弈理论的多智能体避碰避障围捕控制方法  

A multiple agents’encirclement control method with collision avoidance and obstacle avoidance based on potential game theory

作　　者：齐雪 秦明辉 叶瀚 石满红 董姗姗 潘花 QI Xue;QIN Minghui;YE Han;SHI Manhong;DONG Shanshan;PAN Hua(College of Information and Network Engineering,Anhui Science and Technology University,Bengbu 233000,China)

机构地区：[1]安徽科技学院信息与网络工程学院,安徽蚌埠233000

出　　处：《安徽科技学院学报》2025年第1期102-110,共9页Journal of Anhui Science and Technology University

基　　金：安徽省高校自然科学研究重大项目(2023AH040276,2022AH051651,2023AH040275);安徽省教育厅教研重点项目(2023jyxm0600,2023jyxm0597,Xj2022172,Xj2023111);安徽省大学生创新创业训练计划项目(S202310879262X)。

摘　　要：鉴于多欠驱动水下机器人(Underactuated Underwater Vehicle,UUV)围捕控制的难度和不确定性,本研究基于势博弈理论设计了一种围捕控制算法。该算法继承了博弈理论简单性和收敛性的特点,其中的自适应学习特性使算法具有鲁棒性和自主性。同时,该算法还考虑了多UUV之间的避碰问题,UUV与环境中圆形障碍物之间的避障问题,以及逃跑UUV的反追捕反包围策略。在此基础上结合视线角导航,设计了UUV路径点跟踪控制器。基于李雅普诺夫稳定性理论和自适应后推迭代设计方法,实现了UUV速度、航向和距离的精确跟踪控制。同时,仿真结果也验证了围捕算法的有效性。该方法既解决了围捕控制问题,又解决了避碰避障控制问题,具有工程应用价值。In view of the difficulty and uncertainty of multiple underactuated underwater vehicle(UUV)capture control,this paper proposed a capture control algorithm based on potential game theory.This algorithm inherited the simplicity and convergence characteristics of game theory,and the adaptive learning feature made the algorithm robust and autonomous.At the same time,the algorithm also considered the collision avoidance problem between multiple UUVs,the obstacle avoidance problem between UUVs and circular obstacles in the environment,and the anti pursuit and anti encirclement strategy for escaping UUVs.On this basis,combined with line of sight navigation,a UUV path point tracking controller was designed.Based on Lyapunov stability theory and adaptive backstepping iterative design method,precise tracking control of UUV speed,heading,and distance has been achieved.At the same time,the simulation results also verified the effectiveness of the encirclement algorithm.This method not only solved the problem of encirclement control,but also solved the problem of collision and obstacle avoidance control,and had engineering application value.

关 键 词：欠驱动水下机器人 势博弈 围捕控制 避碰避障 

分 类 号：O231.2[理学—运筹学与控制论]