对水下多自主式水下航行器(Autonomous Underwater Vehicle,AUV)的编队协同控制和队形重构技术进行研究是水下AUV系统协同完成作业任务的重要研究内容。人工物理法通过设定虚拟的物理力完成机器人速度和方向信息的计算,并根据结果进行实时控制。由于分布式具有对水下传感信息和通信的依赖度较低的控制特点,因此可以很好的应用于可扩展的水下多AUV协同控制中。本文采用人工物理法完成多AUV的队形协同控制,研究了7个AUV采用人工物理法保持六边形队形,进行编队控制穿越障碍区间,AUV通过传感器探测外界环境,获得相关环境信息并确定障碍物的位置;AUV编队在穿越障碍区间时转换为一字队形,并采用边界检测法,沿边行走绕过障碍物;在穿越障碍区间后,AUV编队再次转换为六边形;依据判决条件完成多智能体控制的模态转换,进行队形重构。仿真结果证明本章所提方法的有效性,并具有较好的适时性与柔性。

Formation coordinated control and formation reconfiguration technology research of multiple AUV are the important research content which complete the tasks of the MAUV coordination system.Artificial physical system through setting virtual physical force to complete the calculation of the speed and direction information of robots,and according to the result to take real-time control.Because of having to rely on the underwater distributed sensor information and communications low control characteristics,it can be good for scalable multi AUV underwater Cooperative Control.In this paper,the artificial physical method of formation AUV completed more cooperative control,studies 7AUV using artificial physical method to maintain a hexagonal formation,formation control performed through the obstacle interval,AUV sensors to detect the external environment through,access to relevant environmental information and determine position of the obstacle;AUV formation interval when crossing obstacles converted to word formation,and the use of boundary detection,border walking around obstacles;after crossing the obstacle interval,AUV fleet again converted to hexagonal;pursuant to a judgment condition modal conversion completed multi-agent control,be reconstructed formation.The simulation results demonstrate the effectiveness of the proposed method in this chapter,and has better timeliness and flexibility.