本文研究分析了基于领航者-跟随者的编队控制方法和基于路径跟随的编队控制方法等2种常用的AUV编队控制方法异同点。针对2种方法在路径点切换时航向变化较大的共性问题，提出采用B样条曲线对规划航路做在线的局部B样条拟合优化，对路径切换点处领航AUV的控制航向角作适度平滑处理。通过数值仿真验证了该方法可改善路径切换时，基于领航者-跟随者的编队控制中的跟随AUV目标跟踪位置变化速度和曲率，削弱了跟随AUV的点跟随难度；同时在路径跟随的编队控制中，利用B样条基函数自变量作为在切换点附近路径的同步控制参数的一部分，可提高切换点附近路径上编队的同步速度。
In this paper, we investigate two common AUV formation control methods: leader-follower formation control method and path-following formation control method. we found an interesting but small problem of the two methods, the AUV changes course Angle too much near the waypoint point. Then we propose a local B-spline fitting optimization of the planned route to solve this problem. Numerical simulation results show that the proposed method can improve the change velocity and curvature of the following AUV's position in the leader-follower formation control during path switching, and weaken the difficulty of point following. At the same time, in the path following formation control, the B-spline basis function independent variable is used as a part of the synchronization control parameters of the path near the switch point, which can improve the synchronization speed of the formation on the path near the switch point.
2023,45(24): 102-107 收稿日期：2022-11-24
DOI：10.3404/j.issn.1672-7649.2023.24.019
分类号：U661
作者简介：郑鹏(1994-),男,工程师,研究方向为动力学与控制
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