针对Multi-AUV编队执行复杂海底地形勘探任务的实际需求和问题，提出Multi-AUV的编队协同控制策略。首先采用领航-跟随思想和反馈线性化方法推导出编队控制律，使Multi-AUV编队可以维持在恒定的几何队形进行巡航，实现高效的并行作业；其次为使搭载的设备获得更佳的扫描效果，引入基于最小二乘法估计的高度控制方法，以保持AUV处在期望的距底高度；然后针对执行梳状探测路径中存在的路径变换和极端地形避障问题提出路径变换优化策略和避障策略，最后通过计算机仿真试验验证提出的编队方法和策略在执行海底复杂地形探测任务中的有效性。
A multiple Autonomous Underwater Vehicles (AUVs) formation control and strategy for underwater exploration with complex terrain is proposed in this paper. Focusing on the real complex operating environment, the oceanographic exploration is studied in formation control, height control, formation and obstacle-avoidance strategy. In the first, the formation controller base on the leader-follower formation and input-output feedback linearization are used for achieving cruising with desired geometric shape. In the following part, individual height control based on the principle of least squares data fitting and prediction is introduced into each AUV in the formation for maintaining the constant height with the complex seafloor for a better detection effect. In the last, the strategy is proposed to optimize the formation ability and eliminate the negative influence caused by route switching and obstacle avoidance during the missions. In the end, numerical simulations are conducted and the results demonstrate the effectiveness and superiority of the proposed formation controller and strategy.
2021,43(2): 93-100 收稿日期：2019-12-24
DOI：10.3404/j.issn.1672-7649.2021.02.020
分类号：U674
基金项目：国家重点研究发展计划(2017TYC0306800)
作者简介：姜成林(1995-),男,硕士研究生,研究方向为多水下机器人编队控制
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