基于改进领航者法的多AUV队形控制方法研究

Research on Multi-AUV Formation Control Method Based on Improved Leader-follower Method

摘要:

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。

关键词:自主水下机器人(AUV);编队控制;水声通信;编队试验

Abstract:

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.

Key words:autonomous underwater vehicles(AUV);formation control;acoustic communication;formation field test