基于改进人工势场的多UUV编队避障方法  

Multi-UUV Formation Obstacle Avoidance Method Based on Improved Artificial Potential Field

作　　者：徐红丽 贾本卿 栾阔 XU Hong-li;JIA Ben-qing;LUAN Kuo(School of Robot Science and Engineering,Northeastern University,Shenyang 110169,China)

机构地区：[1]东北大学机器人科学与工程学院,辽宁沈阳110169

出　　处：《东北大学学报(自然科学版)》2024年第11期1547-1556,共10页Journal of Northeastern University(Natural Science)

基　　金：装备预先研究共用技术项目(50911020604)。

摘　　要：针对多自主水下航行器(unmanned underwater vehicle,UUV)编队在水下未知环境协同避障时,易陷入局部最小值问题和编队分散而导致的编队通信丢失问题,提出一种基于改进人工势场法的编队避障策略来优化UUV的协同避障路径.首先,基于领航跟随法建立UUV之间的编队控制,采用指数形式的改进人工势场函数,解决传统形式的势场因势场突变而导致的紧急转向问题,同时在斥力场引入前向速度、偏离角度,并引入偏离度斥力结合修正角来优化最终避障控制指令,采用一种虚拟点导引法解决局部最小值问题.最后,兼顾编队影响,设计一种UUV的协同避障策略,优化队形偏离度与恢复队形时间.实验结果验证了本文算法在多UUV编队避障的有效性.A formation obstacle avoidance strategy is proposed based on the improved artificial potential field method to optimize the cooperative obstacle avoidance path of multi‑UUV in an unknown underwater environment,which is prone to the local minimum problem and the loss of formation communication due to formation dispersion.Firstly,the formation control between multi‑UUV is established based on the pilot‑following method,and an improved artificial potential field function in exponential form is used to solve the emergency steering problem caused by the sudden change of the potential field in the traditional form.Meantime,while the effects of forward speed and deviation angle are introduced in the repulsion field,and the deviation degree repulsion combined with the trim angle is introduced to optimize the final obstacle avoidance control command,and a virtual point guidance method is used to solve the local minimum problem.Finally,a cooperative obstacle avoidance strategy for UUV is designed to optimize the formation deviation and recovery time,taking into account the effect of formation.The experimental results verify the effectiveness of the proposed algorithm in multi‑UUV formation obstacle avoidance.

关 键 词：自主水下航行器编队 局部极小值 改进人工势场法 协同避障 队形恢复时间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]