未知环境下多AUV协同避障方法研究

Research on multi-AUV cooperative obstacle avoidance method in unknown environment

针对多AUV(autonomous underwater vehicle)系统在未知环境中进行路径规划时难以兼顾避障与编队的问题,提出了一种基于领航—跟随者与行为的多AUV协同避障方法。首先,通过构造碰撞危险度及偏离目标评价函数,设计了AUV局部路径规划方法;在此基础上,结合编队控制方法,分别为领航者和跟随者设计不同的行为以及行为选择模式。半物理仿真实验结果表明,该算法能够实现多AUV系统在未知环境中的协同避障,且队形偏离度与恢复队形时间优于传统多机器人避障算法。实验结果证明了该算法的可行性与有效性。

Aiming at the problem that it is difficult to take into account both obstacle avoidance and formation when multi-AUV system plans path in unknown environment,this paper proposed a multi-AUV cooperative obstacle avoidance method based on leader-follower and behavior.Firstly,this paper designed a local path planning method for AUV by constructing the evaluation function of collision risk and deviation from the target.On this basis,combined with formation control method,this paper designed different behaviors and behavior selection patterns for leader and followers respectively.The semi-physical simulation experiment results show that the algorithm can realize the cooperative obstacle avoidance of multi-AUV system in unknown environment,and the formation deviation and recovery time are better than traditional multi-robot obstacle avoidance algorithms.Experimental results verify the feasibility and effectiveness of the algorithm.