基于路径参数一致的水下机器人编队与避障控制

doi:10.11959/j.issn.2096-6652.202253

智能科学与技术学报 ›› 2022, Vol. 4 ›› Issue (4): 533-541.doi: 10.11959/j.issn.2096-6652.202253

基于路径参数一致的水下机器人编队与避障控制

苏震¹, 刘殿勇², 孙达智², 梁霄²

¹ 珠海云洲智能科技股份有限公司工业发展部，广东珠海 519080
² 大连海事大学船舶与海洋工程学院，辽宁大连 116026

出版日期:2022-12-15 发布日期:2022-12-01
作者简介:苏震（1975- ），男，珠海云洲智能科技股份有限公司工业发展部工程师，主要研究方向为无人集群控制与决策
刘殿勇（1987- ），男，大连海事大学船舶与海洋工程学院讲师、硕士生导师，主要研究方向为无人艇运动控制
孙达智（2001- ），男，大连海事大学船舶与海洋工程学院硕士生，主要研究方向为无人艇集群决策与控制
梁霄（1980- ），男，博士，大连海事大学船舶与海洋工程学院教授、博士生导师，主要研究方向为海上无人系统群智协同技术
基金资助:
国家自然科学基金资助项目(52271302)

Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles

Zhen SU¹, Dianyong LIU², Dazhi SUN², Xiao LIANG²

¹ Industrial Development Department, Zhuhai Yunzhou Intelligent Technology Co., Ltd., Zhuhai 519080, China
² Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026, China

Online:2022-12-15 Published:2022-12-01
Supported by:
The National Natural Science Foundation of China(52271302)

摘要/Abstract

摘要：

面向大范围、自主化的水下协同作业任务，研究了基于路径参数一致的水下机器人编队与避障控制问题。首先，构建基于虚拟结构的机器人编队误差模型，将路径引导下的编队控制解耦为路径跟踪控制与路径参数同步。其次，考虑机器人与虚拟参考点之间的路径跟踪控制，设计基于位置和速度误差反馈的个体跟踪控制律；考虑状态信息非全局已知的路径参数同步，设计基于路径参数一致的编队控制律；进一步考虑障碍物约束，利用人工势函数设计基于速度修正的避障控制律，实现机器人编队与避障控制。仿真结果表明，编队系统能够以期望队形跟踪给定参数化路径，且能够对障碍物进行有效规避。

关键词: 水下机器人, 编队控制, 避障控制, 虚拟结构, 路径参数一致

Abstract:

For large-scale and autonomous underwater cooperative work, the formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicle (AUV) were researched.Firstly, the formation error model was constructed using the virtual structure, which transformed the formation control guided by paths into path following control and path parameter synchronization.Then, to solve the path following control between vehicles and virtual reference points, following control laws of the individual vehicle were designed using feedback errors of positions and velocities.To solve the path parameter synchronization under knowing partial state information, formation control laws were designed using path parameter consensus.And considering the obstacle constraints, obstacle avoidance control laws based on velocity correction were employed by the aid of artificial potential function.Simulation results showed that AUVs could follow the desired parametric path with the desired formation and avoid obstacles using the proposed method.

Key words: Special Topic: Autonomous Underwater Vehicle, formation control, obstacle avoidance control, virtual structure, path parameter consensus

中图分类号:

TP24

苏震, 刘殿勇, 孙达智, 等. 基于路径参数一致的水下机器人编队与避障控制[J]. 智能科学与技术学报, 2022, 4(4): 533-541.

Zhen SU, Dianyong LIU, Dazhi SUN, et al. Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles[J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(4): 533-541.

图/表 11

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

参考文献 22

[1]	LIANG X , QU X R , WANG N ,et al. Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control[J]. IET Intelligent Transport Systems, 2020,14(5): 364-370.
[2]	张伟, 王乃新, 魏世琳 ,等. 水下无人潜航器集群发展现状及关键技术综述[J]. 哈尔滨工程大学学报, 2020,41(2): 289-297.
	ZHANG W , WANG N X , WEI S L ,et al. Overview of unmanned underwater vehicle swarm development status and key technologies[J]. Journal of Harbin Engineering University, 2020,41(2): 289-297.
[3]	DAS B , SUBUDHI B , PATI B B . Cooperative formation control of Special Topic:Autonomous Underwater Vehicles:an overview[J]. International Journal of Automation and Computing, 2016,13(3): 199-225.
[4]	PENG Z H , WANG J , WANG D ,et al. An overview of recent advances in coordinated control of multiple autonomous surface vehicles[J]. IEEE Transactions on Industrial Informatics, 2021,17(2): 732-745.
[5]	YAN Z P , XU D , CHEN T ,et al. Leader-follower formation control of UUVs with model uncertainties,current disturbances,and unstable communication[J]. Sensors (Basel,Switzerland), 2018,18(2).
[6]	GHOMMAM J , SAAD M . Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan[J]. International Journal of Control, 2014,87(5): 1076-1093.
[7]	LEE G , CHWA D . Decentralized behavior-based formation control of multiple robots considering obstacle avoidance[J]. Intelligent Service Robotics, 2018,11: 127-138.
[8]	LIU Y C , CHOPRA N . Control of semi-autonomous teleoperation system with time delays[J]. Automatica, 2013,49(6): 1553-1565.
[9]	丁磊, 郭戈 . 一种船队编队控制的 backstepping 方法[J]. 控制与决策, 2012,27(2): 299-303.
	DING L , GUO G . Formation control for ship fleet based on backstepping[J]. Control and Decision, 2012,27(2): 299-303.
[10]	SHOJAEI K . Leader-follower formation control of underactuated autonomous marine surface vehicles with limited torque[J]. Ocean Engineering, 2015,105: 196-205.
[11]	SHOJAEI K . Observer-based neural adaptive formation control of autonomous surface vessels with limited torque[J]. Robotics and Autonomous Systems, 2016,78: 83-96.
[12]	胡建章, 唐国元, 王建军 ,等. 基于自适应反步滑模的水面无人艇集群控制[J]. 中国舰船研究, 2019,14(6): 1-7.
	HU J Z , TANG G Y , WANG J J ,et al. Swarm control of USVs based on adaptive backstepping combined with sliding mode[J]. Chinese Journal of Ship Research, 2019,14(6): 1-7.
[13]	ARRICHIELLO F , HEIDARSSON H K , CHIAVERINI S ,et al. Cooperative caging and transport using autonomous aquatic surface vehicles[J]. Intelligent Service Robotics, 2012,5(1): 73-87.
[14]	DO K D . Practical formation control of multiple underactuated ships with limited sensing ranges[J]. Robotics and Autonomous Systems, 2011,59(6): 457-471.
[15]	PARK B S , YOO S J . Adaptive-observer-based formation tracking of networked uncertain underactuated surface vessels with connectivity preservation and collision avoidance[J]. Journal of the Franklin Institute, 2019,356(15): 7947-7966.
[16]	LIANG X , QU X R , WANG N ,et al. Swarm control with collision avoidance for multiple underactuated surface vehicles[J]. Ocean Engineering, 2019,191:106516.
[17]	PARK B S , YOO S J . An error transformation approach for connectivity-preserving and collision-avoiding formation tracking of networked uncertain underactuated surface vessels[J]. IEEE Transactions on Cybernetics, 2019,49(8): 2955-2966.
[18]	CHEN Y Y , TIAN Y P . A curve extension design for coordinated path following control of unicycles along given convex loops[J]. International Journal of Control, 2011,84(10): 1729-1745.
[19]	QU X R , LIANG X , HOU Y H ,et al. Fuzzy state observer-based cooperative path-following control of Special Topic:Autonomous Underwater Vehicles with unknown dynamics and ocean disturbances[J]. International Journal of Fuzzy Systems, 2021,23(6): 1849-1859.
[20]	FOSSEN T . Handbook of marine craft hydrodynamics and motion control[M]. Chichester: John Wiley ＆ Sons, 2011.
[21]	LIANG X , QU X R , HOU Y H ,et al. Finite-time unknown observer based coordinated path-following control of unmanned underwater vehicles[J]. Journal of the Franklin Institute, 2021,358(5): 2703-2721.
[22]	QU X R , L X , HOU Y H ,et al. Finite-time sideslip observer-based synchronized path-following control of multiple unmanned underwater vehicles[J]. Ocean Engineering, 2020,217:107941.

基于路径参数一致的水下机器人编队与避障控制

Path parameter consensus-based formation and obstacle avoidance control of Special Topic: Autonomous Underwater Vehicles

在线阅读

PDF下载

可视化

摘要/Abstract

引用本文

使用本文

图/表 11

参考文献 22

相关文章 1

Metrics

推荐阅读 0