通讯受限下面向海区监视的多UUV协同控制研究

项目名称： 通讯受限下面向海区监视的多UUV协同控制研究

项目编号： No.51209174

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 水利科学与海洋工程学科

项目作者： 崔荣鑫

作者单位： 西北工业大学

项目金额： 25万元

中文摘要： 多无人水下航行器(UUV)协作在海洋观测中有着重要的作用。本项目针对水声通讯时延、数据丢失等实际问题，开展面向海区监视的多UUV协同控制研究，主要研究内容和创新点包括：①在切换系统框架下建立多UUV分散式估计模型，提出通讯受限下基于信息一致性的多UUV分散式环境参数估计方法；②考虑多UUV的通讯拓扑约束，利用虚拟Voronoi中心点的思想对海区进行动态分割，提出面向固定海区持续监视的多UUV覆盖控制方法；③在多时空约束条件下，建立面向大范围海域移动观测的多UUV协同航迹规划模型，通过对协调空间概率路标的启发式搜索，提出协调空间下基于滚动优化的多UUV航迹规划方法。最后通过仿真及实验验证本项目提出的算法。通过本项目的研究，为多UUV协同控制的工程应用提供技术基础。

中文关键词： 无人水下航行器；覆盖控制；协同控制；任务分配；路径规划

英文摘要： Cooperation of multiple unmanned underwater vehicles plays an important role in the ocean observation. In this project, we investigate the cooperative control of multiple UUVs for ocean monitoring under the underwater communication constraints such as time-delay and data-loss. The main research works and contributions include: (1) we construct the mathematical model of decentralized estimation of multiple UUVs in the switching control framework, and propose a decentralized estimation method for the environment parameters under communication constraints; (2) we partition the ocean area dynamically using the idea of virtual Voronoi center, with communication topology constraint taken into account. Based on this, we present a coverage control method for the persistent monitoring of fixed ocean area; and (3) we construct the cooperative trajectory planning model of multiple UUVs for large ocean survey with multiple spatio-temporal constraints. Based on the heuristic search on the coordination probabilistic roadmap, we propose a receding horizontal based cooperative trajectory planning algorithm in coordination space. Simulations and experiments will be implemented to validate the proposed algorithms. Through the research of this project, we provide the technical support for the practical applications of multi-UUVs

英文关键词： Unmanned underwater vehicle；Coverage control；Cooperative control；Task allocation；Path planning