结合速度障碍法的无人艇编队控制策略研究

Research on Formation Control Strategy of Unmanned Surface Vehicle Combined with Velocity Obstacle Algorithm

摘要:

在实际的工程运用中,领航者-跟随者算法无法解决无人艇在编队形成过程中的相互碰撞问题,往往需要提前确定编队初始状态,避免编队无人艇之间的相互碰撞。针对该一缺陷,本文将速度障碍法引入领航者-跟随者算法,并将威胁评价引入速度障碍法中,以解决无人艇在编队过程中的相互碰撞问题。本文建立了无人艇的运动仿真平台,并对本文提出的无人艇编队控制策略进行了仿真试验。仿真试验表明,该算法提高了编队控制的稳定性,降低了编队形成过程中的碰撞风险。

Abstract:

In actual engineering applications, traditional formation control algorithms can`t solve the problem of collisions during the formation of unmanned surface vehicle. Planning the initial state of the formation is frequently needed in advance, which reduces the environmental adaptability of the algorithm. Aiming at this defect, a leader-follower algorithm combined with velocity obstacle algorithm is introduced in this paper, and improves velocity obstacle algorithm to solve the collision problem of unmanned surface vehicle in the formation process. In this paper, a motion simulation platform of the unmanned surface vehicle is established, and the simulation test of the unmanned surface vehicle formation control strategy proposed in this paper was carried out. Simulation experiments showed that the algorithm improves the stability of formation control and reduces the risk of collision during formation.