指挥控制与仿真2025，Vol.47Issue(2)：10-18,9.DOI:10.3969/j.issn.1673-3819.2025.02.002
基于事件触发机制的多自主水面航行器编队避障控制
Formation obstacle avoidance control for multi-autonomous surface vehicle based on event triggered mechanism
摘要
Abstract
The formation and obstacle avoidance control of multi-Agent systems,as an important research direction in the field of intelligent transportation,is widely applied in military and civilian environments due to its high practicality.The tra-ditional periodic sampling update mechanism has limited effectiveness in handling non-ideal conditions and its high resource demand leads to significant system resource waste.To address this issue,this paper,using an autonomous surface vehicle model as a background,proposes a multi-Agent system formation consistency algorithm based on event-triggered control and the leader-follower method,incorporating a directed graph structure into the algorithm.Utilizing Lyapunov stability theory,this paper provides a rigorous mathematical proof of the stability of the proposed algorithm,demonstrating system stability while avoiding Zeno behavior.Furthermore,under the premise of maintaining formation consistency,this paper implements obstacle avoidance and collision avoidance functions using an improved artificial potential field method.Experimental results verify the significant advantages of the improved artificial potential field method in obstacle avoidance performance.关键词
智能交通/编队策略/事件触发控制/水面航行器/人工势场法Key words
intelligent transportation/formation strategy/event-triggered control/surface vehicles/artificial potential field分类
信息技术与安全科学引用本文复制引用
朱志鹏,张钊,周红艳,陈雪波..基于事件触发机制的多自主水面航行器编队避障控制[J].指挥控制与仿真,2025,47(2):10-18,9.基金项目
国家自然科学基金项目(71771112) （71771112）
辽宁省高校基本科研业务费专项资金(LJ202410146025) （LJ202410146025）
