火力与指挥控制2011，Vol.36Issue(1)：154-156,159,4.
多自主水下航行器编队控制系统设计
Coordinated Control System Design for Multiple Autonomous Underwater Vehicle
摘要
Abstract
The coordinative control system architecture and way-point tracking formation control algorithm are proposed for the multiple autonomous underwater vehicle (MAUV) system with wide area searching and survey tasks.The control system is organized with a layered hierarch architecture consisting of the mission planner, the coordinator, the motion controllers, and the executor controllers.The formation control algorithm is designed based on the cross-tracking control within a leader-follower framework.The leader AUV moves along the straight line connecting the sequential two way-points,while the each follower is steered to track the parallel lines with the expected separations, and adjusts its velocity to maintain the desired distance to the leader along the desired straight path.So the followers merely have to know the global coordinates of the leader, which means the minimized communication need between the AUVs.The simulations have demonstrated the validity of the MAUV formation control scheme.关键词
多自主水下航行器/分层递阶体系结构/编队航路点跟踪控制/领航者-跟随者Key words
multiple autonomous underwater vehicle/layered hierarch control architecture/ way-point tracking formation control/leader-follower分类
军事科技引用本文复制引用
赵宁宁,徐德民,严卫生,高剑,王金华..多自主水下航行器编队控制系统设计[J].火力与指挥控制,2011,36(1):154-156,159,4.基金项目
国家自然科学基金资助项目(60875071) （60875071）
