多无人水面艇协同海上溢油羽流监测

Cooperative oil spill plume monitoring by multiple unmanned surface vehicles

本文讨论多无人水面艇协同海上溢油污染羽流监测问题,其中羽流扩张过程是由二维空间对流–扩散方程描述.本文的主要目标是为水面无人艇构建基于领导–跟随–锚的协同控制算法,实现其对羽流边界的动态合围与实时跟踪,其中羽流边界是一个预先设定阈值的水平集合.为此,选择两艘无人水面艇分别将其设定为边界领导艇和边界锚艇,并将其余艇设定为跟随艇.利用无人艇各自位置处局部区域内的羽流浓度信息,本文提出了基于分布一致观测器的协同控制算法实现本文的主要目标.结合Lyapunov技术、集合稳定概念以及多智能体协同控制理论,分析了所提控制算法的收敛性.最后,数值仿真验证了所提出协同控制算法的有效性.

This paper discusses the oil spill plume monitoring by multiple unmanned surface vehicles(USVs),where the plume propagation is modeled by an advection-diffusion process in two-dimensional space.The main objective of this paper is to construct a leader-follower-anchor-based cooperative control law for USVs such that all vehicles track the expansion of the plume front described by a level set with a pre-specified threshold value and simultaneously forms an even distribution on this plume front.To this end,two vehicles are assigned as boundary leader and anchor one,respectively,and the other ones are assigned as followers.By local averaged concentration measurements from the chemical sensors equipped on USVs,a distributed-consensus-observer-based cooperative control law is developed to achieve the main objective of this paper.The convergence of the suggested cooperative guidance laws is analyzed rigorously by the Lyapunov technique,set stability,and multi-agent cooperative control theory.Finally,numerical simulations are provided to support the suggested cooperative control laws.