基于MAS的多USV编队分布式协调控制方法

MAS Based Method for Distributed Coordination Control of Multi-USV Formation

针对多USV编队控制问题,提出了一种基于多智能体(MAS)的编队协调策略与实现算法。首先,利用USV搭载的Agent之间的交互,实现分布式编队协调,同时基于引导者-跟随者法设计了面向“元编队”的控制器;之后,通过仿真实验与分析验证了策略与算法的正确性与稳定性;最后,利用“海鱇”和“海鳐”USV对所提方法进行海上试验,试验结果验证了其在实际工程应用中的有效性。

Aiming at the control of multi-USV formation,a distributed coordination strategy was proposed based on Multi-Agent System(MAS)with the implementation algorithm.The distributed formation coordination was realized by using the interaction between the Agents carried by the USVs.At the same time,a controller for“meta-formation”was designed based on the leader-follower method.After that,the correctness and stability of the strategy and the algorithm were verified by simulation experiments and analysis.Finally,the USVs of“Jellyfish”and“Skate”were used to test the distributed coordination control method,and the test results verified the effectiveness of the method in practical engineering applications.