Water area heterogeneous multi-unmanned-vehicle consistent formation method

A consistent, unmanned vehicle technology, applied in the direction of instrumentation, non-electric variable control, altitude or depth control, etc., can solve problems with limited range and no formation involved

Pending Publication Date: 2021-11-30
HARBIN ENG UNIV
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Problems solved by technology

In terms of sea areas, the combined application of unmanned submersible vehicles and surface unmanned ships is still relatively small. Even if there is related research work, it does not involve formation issues, so the scope of detection is very limited.

Method used

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  • Water area heterogeneous multi-unmanned-vehicle consistent formation method
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  • Water area heterogeneous multi-unmanned-vehicle consistent formation method

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Embodiment Construction

[0026] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0027] Step 1: Define the following limit form. If the state of the heterogeneous multi-agent system reaches the following limit under the given undirected communication topology, the system is said to have reached consistency:

[0028] A system is said to be dynamically consistent if it satisfies the following conditions.

[0029]

[0030]

[0031]

[0032]

[0033] A system is said to be quiescently consistent if the system state satisfies the following conditions.

[0034]

[0035]

[0036]

[0037]

[0038] where P d =P di -P dj i,j=1,2,...,n.

[0039] P d Represents the set of expected distances between any two agents. When the time tends to infinity, if the agent reaches the specified position in the formation, it means that the distance between any two agents remains the same, that is, P d , indicating t...

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Abstract

The invention provides a water area heterogeneous multi-unmanned-vehicle consistent formation method. The method aims at solving the problem of model heterogeneity of unmanned aerial vehicles in different environments, such as the problem of environment difference of unmanned aerial vehicles, unmanned ships and underwater vehicles in a water area environment. Consistency control laws of three heterogeneous models are respectively designed by considering environmental parameters and differences of different motion space dimensions, the design process of the consistency algorithm is re-deduced, the stability is proved through block Kronecker product and matrix transformation, and some sufficient conditions for parameter selection are given. According to the invention, the optimization problem and the obstacle avoidance problem in the forming process are considered, different areas such as a circle and a peak threat model are introduced for the obstacle avoidance model problem in an actual water area, and different potential function expressions are constructed. Then the heterogeneous multi-agent system is converted into a closed-loop error system, formation control, an obstacle avoidance optimization function and an index function are defined, and a consistent non-quadratic obstacle avoidance optimal control strategy is deduced by adopting an inverse optimal control algorithm.

Description

technical field [0001] The invention belongs to the technical field of multi-agents, and in particular relates to a consistent formation method for heterogeneous multi-unmanned vehicles in water areas. Background technique [0002] The consensus problem of multi-agents is one of the most basic and important problems in the control of multi-vehicles. In engineering examples, it includes the cooperative control of unmanned aerial vehicles, distributed sensor networks and space vehicle formations. In real situations, the internal dynamics of multi-agent systems are different. At present, relatively sufficient heterogeneous multi-agent research focuses on land applications, that is, the combination of UAVs and unmanned vehicles. In terms of sea areas, the combined application of unmanned submersible vehicles and surface unmanned ships is still rare. Even if there is related research work, it does not involve formation issues, so the scope of detection is very limited. Cross-me...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 黄平王伟薛冰杨学宽
Owner HARBIN ENG UNIV
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