基于视觉传感器的小型多AUV系统队形排列

Pattern formation of small multi-AUV system based on optical sensors

针对海底体积较小(或彩色)目标物体的搜索,基于视觉传感器的多AUV系统成为一个研究热点.为构建一个给定队形(平面金字塔队形),将系统中的同构小型AUV单元有序地集合在一起,基于视觉传感器得到的相对位置及罗盘得到的全局方位,提出一种基于局部位置的队形控制方法.该控制算法包含两部分:1)采取邻居互查机制以区分AUV身份ID;2)提出复杂度为O(n log n)的避碰策略,优化平面金字塔队形的位置与姿态,并为每个AUV规划无交叉直线轨迹.在Blender搭建的无障碍深海仿真环境中,通过4~7个具有ROV结构的同构AUV(CISCREA)重复构建平面金字塔队形,对所提出方法的性能进行测试.仿真结果表明,所提算法具有较好的可行性与稳定性.

Due to the searching tasks of the small and/or color objects on the seabed,the multi-AUV systems with the optical sensors have become a research hotspot.To build a given pattern formation(a planar pyramid pattern)and put all the small homogeneous AUV units together,based on the relative positions got from the optical sensors and the absolute orientation evaluated by the compass,a local position-based control method is proposed.This method includes two parts:1)a neighbor-check mechanism is given to distinguish the AUVs’IDs;2)a collision avoidance strategy with complexity O(n log n)is proposed to optimize the position and gesture of a planar pyramid pattern,and the non-intercrossing linear trajectories for each AUV is planed.The proposed control method is tested in a realistic obstacle-free deep-sea simulation environment established in Blender.4~7 AUVs(CISCREA)are used to build the planar pyramid pattern repeatedly.The results verify the feasibility and stability of the proposed control method.