复杂水域中的无人艇群分散式控制

Decentralized Control of Swarms of Unmanned Surface Vehicles in Complex Waters

论文采用分散式结构,建立无人艇集群控制架构以提高无人艇集群的扩展能力以及降低群体复杂性。首先采用分散式结构,在Boid群集模型的基础下设计无人艇集群控制结构,通过短程斥力避免个体碰撞,有效地利用隐含的类粘性摩擦对齐规则项来抑制系统缺陷导致的振荡,同时通过引入软控制的概念对全局的无人艇进行约束。选取合适的序参量作为无人艇集群运动评价指标,对无人艇集群运动进行定点和定向仿真验证。实验表明该控制结构可以较好实现集群运动,减少系统中存在的不稳定性,扩展性良好。该控制框架下的无人艇群是一个可以自组织避障的自驱动集群模型。

In this paper,a decentralized structure is adopted to establish an unmanned surface vehicles(USV)swarm control architecture to improve the expansion capability of the unmanned vehicle swarm and reduce the complexity of the group.An improved decentralized control structure based on the Boid model is established by using the three basic terms of short-range repulsion,local velocity alignment and global position constraints.Then this paper selects the appropriate sequence parameter as the evaluation index of the swarm movement of the USVs.Then this paper selects the appropriate sequence parameter as the evaluation index of the swarm movement of the USVs.Finally,the swarm movement of the USVs is simulated and verified on the fixed orientation and fixed point.Simulation experiments show that the decentralized control system can effectively control the fixed-orientation and fixed-point swarm movement,and the routes of the USVs are relatively smooth,this structure has a certain ability to resist oscillation and external unstable factors.The USVs swarm under this control framework is a self-driven swarm model that can self-organize and avoid obstacles.