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。针对该缺陷，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。建立了无人艇的运动仿真平台，并对提出的无人艇编队控制策略进行了仿真试验。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，the leader-follower algorithm 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 could prevent the collision among unmanned surface vehicle formations. Aiming at this defect，the velocity obstacle algorithm is introduced into the leader-follower algorithm，and the threat evaluation is introduced into the velocity obstacle algorithm to solve the collision problems of unmanned surface vehicles during formation. 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 has been carried out. Simulation tests show that the algorithm improves the stability of formation control and reduces the risk of collision during formation.