有向通信约束下的AUV集群组队行进方法  

A cooperative formation method for AUV swarm under directed communication constrains

作　　者：刘昊 范玺斌 李冬[1] LIU Hao;FAN Xibin;LI Dong(Unit 91550 of PLA,Dalian 116023,China)

机构地区：[1]中国人民解放军91550部队,辽宁大连116023

出　　处：《指挥控制与仿真》2025年第2期19-29,共11页Command Control & Simulation

摘　　要：为了实现水下任务场景中的无人潜航器(AUVs)集群高效组队行进,提出了一种基于有向通信约束的AUV集群组队行进方法。该方法基于真实水下环境中潜水器之间的有向通信限制,通过仿真模拟通信条件,利用自研方法控制集群内跟随艇与领导艇之间的相对位置,实现潜航器之间的感知和交流,自适应调整队形、协调行动,并有效应对规划任务需求和环境变化。基于该方法的原理、设计框架和实现过程,通过仿真和实验结果验证了其有效性。The formation movement of Autonomous Underwater Vehicle(AUV)clusters has significant application value in underwater missions.To achieve efficient collaboration and formation movement of AUV clusters in underwater mission scenarios,this paper proposes a method for AUV cluster formation movement based on directed communication constraints.This method utilizes the directed communication limitations between vehicles in real underwater environments through simulation to mimic communication conditions and employs a self-developed method to control the relative positions between follower vehicles and leader vehicles within the cluster.This approach thereby enables perception and communication between AUVs,adaptively adjusts formations,coordinates actions,and effectively responds to task requirements and environmental changes.This paper introduces the principles,design framework,and implementation process of the proposed method,and verifies its effectiveness through simulation and experimental results.

关 键 词：有向通信约束 AUV集群 组队行进 任务协同 环境感知 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP29[交通运输工程—船舶与海洋工程]