机械与电子2026，Vol.44Issue(1)：58-64,71,8.
非结构复杂水域下多智能体协同避障污水监控
Collaborative Obstacle Avoidance and Sewage Monitoring of Multiagent in Complex Unstructured Waters
摘要
Abstract
Addressing the challenges of sewage monitoring in asymmetric and harsh aquatic environ-ments,a collaborative obstacle avoidance sewage monitoring method based on a multi-agent system is proposed.This method develops a tracking control algorithm utilizing relative measurement information a-mong agents.A robust control scheme incorporating a first-order filter is designed to ensure the smooth-ness of agent input signals and enhance learning ability,effectively compensating for unknown disturbances from water currents and wind.Considering the presence of non-traversable rocky obstacles in the target water area,a collaborative obstacle avoidance control strategy is constructed,enabling the agents to smoothly bypass various obstacles and reach the sewage areas without generating intense control input sig-nals.Stability analysis of the proposed algorithm is also provided.Finally,the feasibility and effectiveness of the proposed algorithm is verified by the results of numerical simulations.关键词
多智能体系统/污水监控/鲁棒控制/协同避障Key words
multi agent systems/sewage monitoring/robust control/cooperative obstacle avoidance分类
资源环境引用本文复制引用
李干蓉,杨晓武..非结构复杂水域下多智能体协同避障污水监控[J].机械与电子,2026,44(1):58-64,71,8.基金项目
教育部职业院校教育教指委中文专委会2025年度教育教学改革课题(2025JGYB081) （2025JGYB081）
铜仁市新型功能材料产教联合体项目(2222165) （2222165）
