智能系统学报Issue(4)：344-348,5.DOI:10.3969/j.issn.1673-4785.201304033
基于卡尔曼滤波的自主式水下航行器大尺度编队控制
Large-scale formation control for autonomous underwater vehicles based on Kalman filtering
摘要
Abstract
Aiming at investigating the influence of environmental noise on autonomous underwater vehicles( AUV) formation control, a formation control for estimating AUV optimal motion states in real time is proposed. We mod-eled multiple AUVs with larger interval in space as a multi-agent system in order to investigate the large-scale for-mation control. Each AUV is embedded with one global Kalman filter to obtain the optimal estimation of each AUV speed states. And thus the optimal position of AUV in a noisy environment can be calculated by the optimal estima-tion with the global filter. Finally, some simulations were demonstrated to show the effectiveness of the proposed for-mation control scheme.关键词
自主式水下航行器/卡尔曼滤波/一致性/大尺度编队控制Key words
autonomous underwater vehicle/Kalman filtering/consensus/large-scale formation control分类
信息技术与安全科学引用本文复制引用
袁健,周忠海,金光虎,徐娟,李俊晓..基于卡尔曼滤波的自主式水下航行器大尺度编队控制[J].智能系统学报,2013,(4):344-348,5.基金项目
国家自然科学基金资助项目（61074092）；山东省自然科学基金资助项目（ ZR2012FL18）；山东省科学院博士基金项目（201244）；青岛科技发展计划项目（13-＋1-4-172-jch）；国际科技合作资助项目（2011DFR60810）． （）
