摘要
针对多无人水下航行器(unmanned underwater vehicle,UUV)的空间编队问题,将UUV编队中的领航-跟随法和行为法相结合,提出了基于虚拟领航者的UUV空间编队方法.将虚拟领航者替代真实领航者,结合每个个体UUV的行为控制,并将传统的人工势场法推广到三维空间下,来实现UUV的编队控制.该方法在确保了多UUV系统的简单结构的前提下,同时增加了系统的可靠性,且系统保持分布式并行处理的特点.通过对编队队形保持及变换、编队避碰和编队地形勘测3种案例的仿真验证了所提出方法的有效性.
According to the spatial formation problem of multiple unmanned underwater vehicles （UUVs）, by combining leader-follower method and behavior method of UUV formation, the virtual-leader based spatial formation method for UUVs is proposed. The formation control of UUV is realized by using virtual-leader to replace a real-leader, combining behavior control of single UUV, and extending conventional artificial potential field method to 3D space. The method insures the straightforward architecture, increases the system reliability and keeps distributed parallel processing characteristic. Three cases of formation keeping and switching, formation colhsion avoidance and formation terrain survey are simulated, and the simulation results validate the availability of the proposed method.
出处
《应用科技》
CAS
2011年第11期9-12,共4页
Applied Science and Technology
基金
国家自然科学基金资助项目(51109043)
关键词
无人水下航行器
空间编队
虚拟领航者
人工势场
unmanned underwater vehicle
spatial formation
virtual-leader
artificial potential field
