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

Abstract

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

CLC Number:

TP24

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.

Figures/Tables 11

References 22

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

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