欠驱动无人艇集群协同编队路径规划仿真

Simulation of Path Planning for Under-driven Unmanned Surface Vehicle Cluster Cooperative Formation

针对欠驱动无人艇集群协同编队路径规划问题,在零空间行为法的基础上引入虚拟结构法,解决了零空间行为法存在的编队稳定性不足的问题。通过将欠驱动无人艇集群编队任务分解成三个优先级不同的子任务,分别求解每个子任务的任务输出函数,最后将所有子任务的任务输出函数进行综合,得到综合的任务输出函数。在MATLAB环境与基于QT Creat环境的无人艇仿真控制平台进行了仿真验证,仿真结果证明,上述算法的有效性与可行性,欠驱动无人艇集群能够达到编队路径规划目的。

In response to the path planning problem of under-driven unmanned surface vehicle(USV)cluster col-laborative formation,the virtual structure method is introduced on the basis of the null-space behavior method to solve the problem of insufficient formation stability in the null-space behavior method.By decomposing the under-driven USV cluster formation task into three subtasks with different priorities,the output function of each subtask was solved separately,and finally the task output functions of all subtasks were synthesized to obtain a comprehensive task output function.The simulation verification was carried out in the MATLAB environment and the USV simulation control platform based on the QT Creat environment.The simulation results proved the effectiveness and feasibility of the al-gorithm.The under-driven USV cluster can achieve the purpose of formation path planning.