多AUV编队控制

Multi-AUV Formation Control

使用一致性算法l-φ和虚拟领航跟随结构法研究自主水下机器人的集群编队控制。基于一致性算法l-φ对各AUV所持有的参考信息进行一致性协商而达到状态一致。基于虚拟结构思想,将编队控制问题转化为跟随AUV对虚拟领航AUV的轨迹跟踪控制,使得各AUV相对于虚拟领航者的位置且在有限的时间内确保到达各自的期望位置。通过Java的GUI编程进行仿真实验来验证控制策略的有效性。

Consistency algorithm l-φand virtual pilot-following structure are used to study the formation control of autonomous underwater vehicles.On the basis of consistency algorithm l-φ,consistency negotiation is carried out for the reference information held by each AUV to achieve state consistency.Based on the idea of virtual structure,the formation control problem is transformed into the trajectory tracking control following AUV to the virtual pilot AUV,so that each AUV can reach its desired position relative to the virtual pilot within a limited time.The effectiveness of the control strategy is verified through the simulation experiment of GUI programming in Java.