针对小型水面无人艇编队的协同任务执行问题，提出一种适用于多个体、多任务协同分配的编队控制方法。为解决编队在同时执行多个任务时的成员自动分配问题，使用匈牙利算法进行最优分配计算，并设计一种距离与方位夹角耦合的任务耗费计算律；为了满足海洋测量任务中对梳子形编队转弯的功能需求，提出一种编队队形的自适应重构方法；针对无人艇编队成员的运动规划律问题，研究并设计一种适用于无人艇编队的期望航向与和航速规划律。最后通过编队航行仿真试验，对所设计方法的有效性进行了验证。
Aiming at the cooperative task execution problem of small surface vehicle formation, a formation control method for multi-agent and multi-task allocation is proposed. First, in order to solve the problem of members’ automatic assignment when execution multi-tasks at the same time, the Hungarian algorithm is used for optimal assignment calculation, and a task cost calculation law was designed using the coupling of distance and azimuth angle. Then, an adaptive formation reconstruction method is proposed to meet the function requirement of the comb-shape formation turning. Next, aiming at the problem of the motion planning law for formation members, a desired heading and velocity planning law is studied and designed. Finally, the effectiveness of the proposed method is verified by formation sailing simulations. the problem of cooreratice task execution for small surface vehicle
2022,44(9): 69-74 收稿日期：2021-11-11
DOI：10.3404/j.issn.1672-7649.2022.09.014
分类号：U661.43
基金项目：国家重点研发计划资助项目(2018YFB1600400)
作者简介：曾宏(1986-)，男，硕士研究生，从事船舶无人自动控制研究
参考文献：
[1] PENG Z, WANG D, CHEN Z, et al. Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics[J]. Control Systems Technology, IEEE Transactions on. 2013, 21(2): 513-520.
[2] CHEN, Y, TIAN, Y. Formation tracking and attitude synchronization control of underactuated ships along closed orbits[J]. International Journal of Robust & Nonlinear Control, 2015, 25(16): 3023–3044
[3] DO K D. Practical formation control of multiple underactuated ships with limitedsensing ranges. Robotics and Autonomous Systems, 2011, 59: 457-471.
[4] 刘国芳, 冯王兵, 罗佳. 考虑运动模式的无人船航迹实时跟踪控制算法[J]. 舰船科学技术, 2021, 43(4): 16–18
[5] KUPPAN C R M, SINGAPERUMAL M, NAGARAJAN T. Behavior based multi robot formations with active obstacle avoidance based on switching control strategy[J]. Advanced Materials Research, 2012, 433: 6630–6635
[6] FOSSEN T I. Marine control systems: guidance, navigation and control of ships, rigs and underwater vehicles[M]. Trondheim, Norway: Marine Cybernetics, 2002.
[7] DO K D. Practical control of underactuated ships[J]. Ocean Engineering, 2010, 37(13): 1111–1119
[8] 马硕, 马亚平. 基于分层聚类拍卖的集群UUV多目标分配方法[J]. 舰船科学技术, 2019, 41(9): 70–75
[9] 吕光颢, 彭周华, 王丹, 等. 无人船集群队形重构的目标任务分配[J]. 中国舰船研究, 2018, 13(6): 103–108
[10] 吴祈宗, 侯福均. 运筹学与最优化方法[M]. 北京：机械工业出版社, 2013.
[11] 丁磊, 郭戈. 一种船队编队控制的backstepping方法[J]. 控制与决策, 2012, 27(2): 299–303
[12] Oh S R, Sun J. Path following of underactuated marine surface vessels using line-of-sight based model predictive control[J]. Ocean Engineering, 2010, 37(2): 289–295
[13] 田晓伟. 舰船航向非线性自适应鲁棒控制方法[J]. 舰船科学技术, 2020, 42(14): 55–57
