基于局部感知的无人艇集群过复杂障碍场方法

Formation control of unmanned surface vehicle swarm in dense environment based on local perception

针对当前基于中央控制策略解决无人艇(unmanned surface vehicle,USV)过复杂障碍场智能化程度不足的问题,提出一种基于局部感知的USV集群自主决策通过复杂障碍场方法。所提方法采用自组织协同思想,利用USV的局部感知能力获取周边水域的有效信息,将自组队形和自主避障决策权交由USV执行,促使集群自组织通过复杂障碍场并达成无序到有序的队形演化。仿真结果表明,采用所提方法的集群过复杂障碍场过程明显优于基于人工势场的同类方法。所提方法可在确保生存率前提下自组织实时集群自组队形、自主避障和自适应航行,对提升集群适应能力具有重要意义。

Aiming at the current problem of insufficient intelligence for unmanned surface vehicle(USV)in solving the problem of dense environment crossing based on the central control strategy,a method of autonomous decision-making of USV swarms dense environment crossing based on local perception is proposed.The proposed method adopts the idea of self-organizing collaboration,uses the local perception ability of the USV to obtain effective information of the surrounding waters,and hands over the self-organizing formation and autonomous obstacle avoidance decision-making power to the USV to promote the swarm self-organization cross the dense environment and achieve the formation evolution from disorder to order.Simulation results show that the process of swarm dense environment crossing using this method is obviously better than similar methods based on artificial potential field.The proposed method can self-organize real-time swarm self-organizing formation,autonomous obstacle avoidance,and adaptive navigation under the premise of ensuring survival rate,which is of great significance for improving swarm adaptability.