Multi-AUV formation control method based on improved navigator virtual structure method

Abstract

The invention belongs to the technical field of multi-AUV formation control, and particularly relates to a multi-AUV formation control method based on an improved navigator virtual structure method. According to the invention, path planning is effectively realized, and obstacles in the environment are effectively avoided. By improving the original navigator method and the virtual structure method, the problems that the formation obstacle avoidance flexibility of the virtual structure control method is poor and the centralized control of the traditional navigator method is insufficient are solved. According to the invention, efficient obstacle avoidance strategy selection is carried out according to the AUV formation shrinkage degree; the problem of poor obstacle avoidance flexibility of the virtual structure control method formation facing narrow space and other environments is solved by utilizing formation shrinkage; meanwhile, a dynamic navigator switching strategy is provided, and a heuristic evaluation function is introduced on the basis of a dynamic navigator switching method to serve as a judgment basis for selecting a new navigator. According to the method, efficient obstacle avoidance can be carried out while the formation stability and flexibility of the rigid structure are improved.

Description

technical field [0001] The invention belongs to the technical field of multi-AUV formation control, and in particular relates to a multi-AUV formation control method based on an improved navigator virtual structure method. Background technique [0002] In the field of marine resources development and marine military development, underwater robots have extremely broad application prospects. In recent years, they have always been a research hotspot, and the research on underwater robots in various countries is also deepening day by day. [0003] Underwater robots combine a variety of intelligent control technology theories on traditional carriers, and can complete tasks such as information collection, task assignment, path planning, and collaborative navigation underwater. The research and development of underwater robots includes important technologies such as AUV carrier design, underwater target detection and recognition, AUV intelligent control algorithms, high-precision n...

AI Technical Summary

Problems solved by technology

When encountering a complex obstacle environment, the formation is stretched or squeezed too much, which often exceeds the threshold of the set potential field parameters, resulting in the failure of the formation to avoid obstacles

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