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Multi-AUV formation optimization control method under obstacle environment

A technology for optimizing control and formation, which is applied in three-dimensional position/channel control and other directions, and can solve problems such as performance optimization without considering formation transformation.

Inactive Publication Date: 2018-09-28
HARBIN ENG UNIV
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Problems solved by technology

For the transformation of formation formation, many scholars have carried out related research. Some of them coordinated the transformation between the two formations based on the graph theory method. At the same time, they gave a group of robots how to automatically change the formation shape in order to avoid obstacles, but did not consider the reality. Performance Optimization Problems in Environmental Constraints and Formation Changes

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  • Multi-AUV formation optimization control method under obstacle environment
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  • Multi-AUV formation optimization control method under obstacle environment

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Embodiment Construction

[0097] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0098] combine Figure 1 to Figure 9 , the present invention comprises the following steps:

[0099] 1. Step 1: Establish the horizontal plane model of AUV;

[0100]

[0101] in: m ur =m-Y r , d u =-X uu u 2 -X vv v 2 , d v =-Y v uv-Y v|v| v|v|,d r =-N v uv-N v|v| v|v|-N r ur. I z is the fixed moment; X {.} , Y {.} and N {.} is the hydrodynamic coefficient; x uu =-35.4Kg, Xvv =-128.4N·m 2 ,Y v =-346Kg, Y v|v| =-667Kg·m -1 , Y r =435Kg,N r =-1427Kgm, N v|v| =443Kg, N v =-686Kg, I z =2000N·m 2 , F and T represent the thrust and bow turning moment of the AUV in the longitudinal direction, u is the forward moving speed of the AUV, v is the lateral moving speed of the AUV, r is the turning speed of the AUV, x is the lateral position of the AUV, and y is the AUV Longitudinal position, ψ represents AUV h...

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Abstract

The invention provides a multi-AUV formation optimization control method under an obstacle environment, and belongs to the technical field of ship control. A path tracking error model is established based on a sight distance navigation method, a path tracking controller is designed by adopting a feedback linear method, a multi-AUV communication topological relation and a coordination error model are established by utilizing a graph theory, and a speed coordination controller is designed, so that the formation control is achieved, and a formation optimization obstacle avoidance strategy considering the environment constraints is designed according to the obstacle environment, the optimal formation topological structure is obtained through solving the environment fitness function, so that the formation can pass through the region in the obstacle environment in an optimal formation mode.

Description

technical field [0001] The invention relates to a multi-AUV formation optimization control method in an obstacle environment, belonging to the technical field of underwater robots. Background technique [0002] With the depletion of resources, the development and utilization of marine resources is becoming more and more urgent, which requires tools that can perform precise and safe operations in complex marine environments. Harnessing ocean resources brings new tools. Because the performance index of a single AUV cannot meet the requirements, the cooperation between multiple AUVs is required to achieve the goal. Multi-AUV formations will inevitably encounter obstacles during the execution of missions. When formation navigation encounters obstacles, the optimization and transformation of formation can greatly reduce the time required to reach the mission point and improve the efficiency of mission completion. For the transformation of formation formation, many scholars have...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 李娟袁锐锟马涛张建新徐健杜雪
Owner HARBIN ENG UNIV
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