项目名称: 复杂动态环境下基于弱通信的AUV三维编队控制研究
项目编号: No.60805050
项目类型: 青年科学基金项目
立项/批准年度: 2009
项目学科: 金属学与金属工艺
项目作者: 徐红丽
作者单位: 中国科学院沈阳自动化研究所
项目金额: 23万元
中文摘要: 由于现有编队控制技术不能完全满足复杂、动态环境下多AUV系统协同作业的需要,本项目以多AUV集群作业中亟待解决的编队控制问题为研究背景,重点解决了弱通信、弱观测、复杂动态环境下的AUV三维编队控制问题,主要完成了如下研究工作:(1)提出了混合式多AUV编队控制体系结构;(2)提出了弱通信、弱观测条件下基于相对距离的AUV编队控制方法;(3)提出了复杂动态环境下的AUV编队协调避碰规划方法;(4)建立了AUV编队控制仿真系统;(5)在仿真系统中演示验证了所提出的编队控制方法和编队协调避碰规划方法。通过对这些AUV编队控制相关科学问题和技术难点的探索研究,为未来构建具备复杂、动态环境下作业能力的多AUV系统提供了可行的技术方案和理论依据。
中文关键词: 三维编队控制;多AUV系统;多AUV协调避碰;体系结构
英文摘要: The present formation control methods can not meet real requirements of multiple AUVs system operating in complex dynamic environment. So this project selected some formation control problems that need to be solved urgently for multiple AUVs system as the research background, and studied the AUV fomation control under the weak communication, weak observation conditions. We proposed the following methods or systems, including a hybrid control architecture for multiple AUVs system, an AUV formation control method based on the relative distance under the weak communication, weak observation conditions, a AUV formation coordinated obstacle avoidance method in complex dynamic environment, and a AUV formation control simulation system. We completed the simulation tests for the proposed formation control methods. Through these research work, we provide a feasible technical plan and the theory basis for building multiple AUVs system in the future.
英文关键词: formation control; multiple AUVs system; coordinated obstacle avoidance; control architecture