多自主水下航行器分布式三维仿射编队机动控制

Distributed three-dimensional affine formation maneuver control for multiple autonomous underwater vehicles

  • 摘要:
    目的 为提高自主水下航行器(AUV)编队在复杂障碍场景中执行任务的能力,提出一种分布式三维多AUV编队队形机动控制方法。
    方法 基于仿射变换理论与应力矩阵,实现了AUV编队队形的缩放、旋转、共面、切变、共线或它们的组合机动。编队机动信息仅由领导者AUV决定,跟随者AUV仅需跟踪由领导者AUV仿射定位的期望轨迹。同时,基于Laplacian矩阵,实现了多AUV编队的艏向一致性。此外,采用非奇异积分终端滑模控制器保证了多AUV编队快速高精度跟踪期望轨迹。
    结果 通过高保真仿真实验验证了所提出的AUV编队机动控制方案能够驱动多AUV编队实现三维队形的高精度机动变换,具有高机动性与强棒性。
    结论 所提方法使得多AUV编队能够通过灵活机动队形来躲避复杂水下障碍物,提高了AUV编队的安全性和执行任务的能力。

     

    Abstract: :
    Objectives For the sake of improving the ability of the autonomous underwater vehicle (AUV) formation to perform tasks in complex obstacles scenarios, a distributed three-dimensional affine formation shape maneuver control method is proposed for the multi-AUVs formation.
    Methods Based on affine transformation theory and stress matrix, AUV formation shape can achieve the rotation, scaling, shear, coplanarity, collineation or their combination. Formation maneuver information is only determined by the leader AUVs, and the follower AUVs only needs to track their individual desired trajectory affinely localized by the leader AUVs. Meanwhile, the yaw consistency of multi-AUVs formation is achieved based on the Laplacian matrix. Furthermore, a non-singular integral terminal sliding mode controller is employed to ensure that the multi-AUVs formation can track the desired trajectory fast and with high accuracy.
    Results Through the high-fidelity simulation experiments, the proposed AUV formation maneuver control method can drive the multi-AUVs formation to realize the high-precision maneuvering transformation of three-dimensional formation, and has high maneuverability and strong robustness.
    Conclusions The proposed method enables the multi-AUVs formation to avoid complex underwater obstacles by flexible maneuvering formation, which improves the safety of AUV formation and the ability to perform tasks.

     

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