编队式自主水下航行器无碰协调控制技术研究

Research on Coordinated Control of Formation Autonomous Underwater VehiclesWithout Collision

针对自主水下航行器(AUV)编队式航行中存在智能体间相互碰撞的危险,提出一种自主水下航行器的无碰协调控制技术,包含了编队协调控制和无碰策略等多种基本行为的融合。在编队控制中运用基于级联方法的路径跟踪控制技术和参数一致性的协同控制方法,保证了跟踪误差的渐近稳定,采用HRVO算法的无碰避障策略,使得AUV可以同时避开一般障碍物和其他AUV的碰撞危险。仿真结果表明,该AUV编队式无碰协调控制技术可使各AUV在避开碰撞危险的情况下,快速收敛到各自的参考路径,并保持编队的协调一致性。

In view of the risk of collision among intelligent bodies in autonomous underwater vehicles(AUVs)formation navigation,a non-collision and coordination control technology of autonomous underwater vehicle is proposed in this paper,which includes the integration of various basic behaviors such as formation coordination control and non-collision strategy.In it,the path tracking control technology based on cascade method and the coordination control method of parameter consistency are used to ensure the asymptotical stability of tracking error,and the collision avoidance strategy of HRVO algorithm is adopted,so that AUVs can avoid the collision risk of common obstacles and other AUVs simultaneously.The simulation results show that the AUV formation with non-collision and coordination control technology can quickly converge to the respective reference paths and maintain the coordination of formation in the case of avoiding collision risk.