| 基于盲区概念减少通信量的多AUV 编队控制 |
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| 引用本文： | 周添,康凤举. 基于盲区概念减少通信量的多AUV 编队控制[J]. 兵工自动化, 2011, 30(9): 61-64. DOI: 10.3969/j.issn.1006-1576.2011.09.017 |
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| 作者姓名： | 周添 康凤举 |
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| 作者单位： | 西北工业大学航海学院,西安710072;西北工业大学水下信息处理和控制国家实验室,西安710072 |
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| 基金项目： | 水下信息与控制重点实验室基金资助(9140C2305041001) |
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| 摘 要： | 针对在水下复杂环境中编队控制多AUV协作的问题，设计一种使用人工势场和虚拟领航者并引入盲区设计的多AUV分布式协作控制方法。介绍一种用于AUV集群在无障碍条件下的形成期望编队的反馈控制规律，详细分析了基于虚拟领航者和盲区概念以减少通信量的控制规则，建立了AUV编队的数学模型，通过反馈控制完成AUV集群的预定编队，在无障碍环境下达成一种能减少通信量的AUV编队的协调与控制。仿真实验结果验证了该编队控制律的有效性。
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| 关 键 词： | 多AUV 编队控制 盲区 减少通信 |
| 收稿时间： | 2013-01-28 |
Formation Control of Multi-AUV Based on Blind Area Conception for Reduced Communications |
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| Zhou Tian,Kang Fengju. Formation Control of Multi-AUV Based on Blind Area Conception for Reduced Communications[J]. Ordnance Industry Automation, 2011, 30(9): 61-64. DOI: 10.3969/j.issn.1006-1576.2011.09.017 |
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| Authors: | Zhou Tian Kang Fengju |
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| Affiliation: | Zhou Tian1,2,Kang Fengju1,2(1.College of Marin,Northwestern Polytechnical University,Xi'an 710072,China,2.National Technology Key Laboratory for Underwater Information Processing & Control,China) |
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| Abstract: | For implementing the cooperative formation control of multiple autonomous underwater vehicles(AUVs) in complex underwater environments,designed a distributed control law based on artificial potential field and virtual leaders with blind area.A feedback control law is given for pre-specified formation of AUVs in an obstacle-free environment,the formation control law based on virtual leaders with blind area for reducing communication requirements was studied,and a mathematic model of the formation control for... |
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| Keywords: | AUVs formation control blind area reduced communications |
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