李良(1993-),男,博士生,主要从事多AUV集群控制研究。
TP242
国家自然科学基金面上项目(42176194)；国家重点研发计划资助项目(2017YFC0821204)
LI Liang
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169 ,China ；University of Chinese Academy of Sciences,Beijing 100049 ,ChinaLI Liping
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169 ,ChinaZHANG Yuexing
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169 ,China ；University of Chinese Academy of Sciences,Beijing 100049 ,ChinaZENG Junbao
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169 ,ChinaXU Gaopeng
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 ,China ；Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169 ,China ；Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169 ,China针对多自主水下机器人(多 AUV)编队问题，提出了一种基于改进跟随领航者法的编队控制方法，通过仿真实验和湖上试验进行了验证。将对跟随者的航向和速度控制简化成单一的速度控制，并采用多级精准速度调控方法进行编队控制。然后，通过仿真实验对该方法进行初步验证，并确定关键控制参数。最后，建立一套队形评价指标，通过外场试验验证该方法有效性。试验结果表明：该编队控制方法在控制的快速性、准确性和稳定性等方面均表现很好。
To solve the formation problem of multiple autonomous underwater vehicles(AUVs)，a formation control method based on the improved leader-follower method is proposed in this paper.The method is verified by simulation experiment and lake experiment. The leader-follower formation control method is improved by simplifying the control of heading and speed into a single speed control for the follower. A multi-stage precise speed control method is used for formation control. Then，the method is verified by simulation experiment，and the key control parameters are determined. Finally，a set of formation evaluation index is established，and the proposed method is verified by field tests. The result proves that the proposed method performs well in terms of response speed，accuracy and stability.
李良,李一平,张岳星,等.基于改进领航者法的多AUV队形控制方法研究[J].数字海洋与水下攻防,2021,4(6):469-474
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