基于领航跟随的2型AUV编队航行仿真对比

Simulation of two types of AUVs formation based on leader follower formation control

基于领航跟随的编队控制方法简洁实用,但其在不同自主式水下航行器(Autonomous Undenuater Vehicle,AUV)平台上的控制效果缺乏对比。本文针对500 kg的“海翔500”AUV与5000 kg的“NPS”AUV开展AUV编队航行仿真,对比分析了基于领航跟随编队控制方法下的2型AUV的队形距离偏差、队形角度偏差。500 kg的“海翔500”AUV与5000 kg的“NPS”AUV在路径跟随上的航行能力接近,航行稳定后偏离设定路径的法向距离小于1 m。基于领航跟随的编队控制方法对2型AUV的编队均有较好的控制效果,在稳定直航段跟随者与领航者的距离偏差保持在7~8 m,角度偏差保持在3°~5°。但在切换点处由于队形相对位置的约束,对编队内外侧AUV的加减速性能有一定要求,“NPS”AUV在直角拐弯处的距离偏差较“海翔500”AUV增大50%左右。

The leader-follower formation control method is concise and practical,but its control effectiveness on different AUV platforms lacks comparison.This article uses a 500 kg level"HX500"AUV and a 5000 kg level"NPS"AUV to conduct AUV formation navigation simulation,and compares and analyzes the formation distance deviation and formation angle deviation of two types of AUVs based on leader-follower formation control method.The results indicate that the navigation ability of the"HX500"AUV and the"NPS"AUV on path following is similar,and the normal distance from the path after stable navigation is less than 1 m.The formation control method performs well in formation control of two types of AUVs.After stable navigation,the distance deviation between the follower and the leader is maintained at 7~8 m,and the angle deviation is maintained at 3°~5°.However,due to the constraints of the relative position of the formation at the switching point,there are certain requirements for the acceleration and deceleration performance of the inner and outer AUVs of the formation.At the corner of the path,NPS AUVs with larger weight and size have a distance deviation of about 50%greater than the"HX500"AUVs.