指挥控制与仿真2025，Vol.47Issue(2)：19-29,11.DOI:10.3969/j.issn.1673-3819.2025.02.003
有向通信约束下的AUV集群组队行进方法
A cooperative formation method for AUV swarm under directed communication constrains
刘昊 1范玺斌 1李冬1
作者信息
- 1. 中国人民解放军 91550 部队,辽宁 大连 116023
- 折叠
摘要
Abstract
The formation movement of Autonomous Underwater Vehicle(AUV)clusters has significant application value in underwater missions.To achieve efficient collaboration and formation movement of AUV clusters in underwater mission sce-narios,this paper proposes a method for AUV cluster formation movement based on directed communication constraints.This method utilizes the directed communication limitations between vehicles in real underwater environments through simulation to mimic communication conditions and employs a self-developed method to control the relative positions between follower ve-hicles and leader vehicles within the cluster.This approach thereby enables perception and communication between AUVs,a-daptively adjusts formations,coordinates actions,and effectively responds to task requirements and environmental changes.This paper introduces the principles,design framework,and implementation process of the proposed method,and verifies its effectiveness through simulation and experimental results.关键词
有向通信约束/AUV集群/组队行进/任务协同/环境感知Key words
directed communication constraints/AUV swarm/formation control/task coordination/environment perception分类
交通工程引用本文复制引用
刘昊,范玺斌,李冬..有向通信约束下的AUV集群组队行进方法[J].指挥控制与仿真,2025,47(2):19-29,11.
