Multi-AUV formation control method based on object function

A technology of objective function and control method, which is applied to the control of finding targets, three-dimensional position/channel control, etc., and can solve problems such as long time consumption, high packet loss rate, and narrow communication bandwidth

Inactive Publication Date: 2017-06-27
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

Due to the limitations of the underwater environment, there are often problems such as high communication delay, high packet loss rate, and narrow communication bandwidth when using underwater acoustic communicators for communication.
It takes a long time to send information between AUVs, which is not conducive to formation formation and formation maintenance

Method used

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  • Multi-AUV formation control method based on object function
  • Multi-AUV formation control method based on object function
  • Multi-AUV formation control method based on object function

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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0060] The present invention is made up of three AUVs, a GPS and a navigation system mounted on the AUV, a radio communication device, an underwater acoustic communication machine and a computer. Such as figure 1 As shown, the following equipment is required:

[0061] Underwater acoustic communicator with ranging function: installed on AUV, used for periodic ranging between underwater robots, and aperiodically sending its own speed and heading information.

[0062] Control computer: used to monitor AUV pose information in real time, calculate relative direction information between AUVs, calculate distance information and direction information between AUVs in real time, and control and give AUV expected speed and expected course according to distance information and direction information between AUVs. The desired speed and heading of the AUV ...

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Abstract

The invention discloses a multi-AUV formation control method based on an object function. The formation control method is based on the objection function representing the formation state, and is suitable for the multi-AUV formation control based on range finding information in an environment where the communication is limited. The method mainly comprises the parts: the object function for representing the formation state, the AUV formation control rule based on the object function, and the inter-AUV direction information and distance information real-time estimation method based on the range finding information. The method enables the AUV to be able to form and maintain an expected formation in the environment where the communication is limited. The method is small in needed communication quantity, is simple, and is wide in application range.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an objective function-based multi-AUV formation control method. Background technique [0002] When AUVs complete formation tasks, they need to obtain information such as the position, speed, and heading of other carriers. The traditional solution is to use hydroacoustic communicator for communication. Due to the limitations of the underwater environment, there are often problems such as high communication delay, high packet loss rate, and narrow communication bandwidth when using underwater acoustic communicators for communication. It takes a long time for AUVs to send information to each other, which is not conducive to formation formation and formation maintenance. [0003] The multi-AUV formation control method based on ranging information has certain advantages compared with the method of forming formation relying on communication information between AUVs, mainly ...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/12
CPCG05D1/10G05D1/12
Inventor 李冠男徐红丽冯亮林扬郑荣
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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