UUV协同目标分配与轨迹规划技术研究

Research on cooperative mission assignment and trajectory planning for unmanned underwater vehicles

为了解决弱通信条件及存在动态不确定性障碍物条件下的多UUV协同路径规划问题,本文提出KM最优匹配与PSO寻优方法相结合的UUV协同路径规划算法框架,无需依赖实时的水下通信链路,采用集中式分配、分布式规划执行的方法实现UUV集群按照既定任务需求生成满足UUV角速度、速度等运动学约束条件的可行轨迹,并采用制导控制与规划控制分层解耦方式,设计基于虚拟点制导法的轨迹跟踪算法,解决UUV的轨迹跟踪控制问题。此外,结合势场法与一致性控制实现UUV集群的动态避障,通过仿真结果分析,所提方法可以有效解决多UUV集群中的协同目标分配与同时到达控制问题。

In order to solve the problem of multi-UUVs cooperative path planning under weak communication conditions,this manuscript proposes a UUV cooperative path planning algorithm combining KM optimal matching and PSO optimization method.This method does not need to rely on real-time underwater communication,and can generate feasible trajectories meet the kinematic constraints such as angular velocity and velocity of UUV according to the mission requirements.In addition,trajectory tracking algorithm based on the combination of virtual point and guidance method has been designed,and the hierarchical decoupling method has been used to solve the trajectory tracking control problem of UUV.Moreover,the artificial potential field method has been introduced to realize the dynamic obstacle avoidance of UUVs.Through the analysis of simulation results,the proposed method can effectively solve the problem of cooperative target allocation and simultaneous arrival control in multi-UUVs.