Multi-AUV formation obstacle avoidance control method and system under ocean current interference, electronic equipment and storage medium

Abstract

The invention provides a multi-AUV formation obstacle avoidance control method under ocean current interference, and the method comprises the steps: designing a water speed observer, and obtaining the flowing speed of seawater; designing an AUV formation controller based on the flowing speed of the seawater; and based on the AUV formation controller, a safe and efficient obstacle avoidance path is planned for the multi-AUV formation under ocean current interference. According to the invention, in a set constant ocean current environment, the AUV formation can reach a target area without touching the ground; in an unsteady state (time-varying) ocean current disturbance environment, the formation controller can also plan a satisfactory navigation path; and formation reconfiguration and obstacle avoidance can be realized in an eddy current environment.

Description

Technical Field

[0001] The present invention belongs to the field of AUV (Autonomous Underwater Vehicle, AUV) underwater formation control, and specifically relates to a multi-AUV formation obstacle avoidance control method, system, electronic equipment and storage medium under ocean current interference. Background Art

[0002] Seawater flow is a widespread natural phenomenon. Various marine operations have shown that the impact of ocean currents on AUV navigation and operations cannot be ignored. Especially in the control of multiple AUV formations, the problem of ocean current interference becomes particularly significant. A certain degree of ocean current will cause the AUV's navigation position and orientation to shift, thereby affecting the accuracy of the AUV's navigation position. If the interference of ocean currents on AUVs is ignored, multiple AUVs may continue to oscillate during the formation process, or even fail to form a target formation.

[0003] Previous technologies often use multi-AUV based hybrid A* motion planning obstacle avoidance algorithm, model prediction (Model Predictive Control, MPC)-based formation obstacle avoidance algorithm and traditional APF (Artificial Potential Field)-based formation motion planning obstacle avoidance algorithm. However, the AUV based hybrid A* motion planning obstacle avoidance algorithm often generates paths that are not smooth enough, affecting the driving efficiency and stability of the AUV formation obstacle avoidance. Although the formation obstacle avoidance algorithm based on model prediction takes less time to avoid obstacles and has a shorter path, in response to the existing problems, the present invention provides a multi-AUV formation obstacle avoidance control method under ocean current interference. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-AUV formation obstacle avoidance control method under ocean current interference, so as to incorporate the influence of ocean current factors on the multi-AUV formation into the reconstruction of obstacle avoidance. The problem of two-dimensional formation reconstruction and obstacle avoidance of multiple AUVs in the presence of unknown ocean current interference and uncertain model parameters is studied.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A multi-AUV formation obstacle avoidance control method under ocean current interference, the method comprising:

[0007] Design a water velocity observer to obtain the flow velocity of seawater;

[0008] Based on the flow velocity of the seawater, an AUV formation controller is designed;

[0009] Based on the AUV formation controller, a safe and efficient obstacle avoidance path is planned for a multi-AUV formation under the interference of ocean currents.

[0010] Furthermore, the water speed observer is constructed based on the dynamic model of the AUV and the exponential convergence principle.

[0011] Furthermore, the AUV formation controller is constructed based on the AUV dynamics model and Lyapunov stability theory, specifically:

[0012] The control input is designed to satisfy the condition that the Lyapunov function becomes a negative semidefinite function. An adaptive control algorithm is introduced to adjust the control input according to the navigation speed and position error of the multi-AUV formation to achieve stable navigation and obstacle avoidance of the multi-AUV formation in the ocean current.

[0013] Furthermore, the adaptive control algorithm is specifically:

[0014]

[0015] u a =R + (p)(-k v z+d p )

[0016] v m =(k1+1)e t +v v -u a1

[0017]

[0018] In the formula, k a , k v , k1 is the normal coefficient, s is the introduced speed variable, is the regression matrix, v m is the relative speed of the navigator following the virtual navigator, J is the coordinate transformation matrix, is the external disturbance matrix, v d is the speed of the formation, R is the stiffness matrix, R + (p) = R T (p)(R(p)R T (p)) -1 is the Moore-Penrose pseudo-inverse matrix, e t =p v -p1 is the position error between the formation obstacle avoidance path planning point and the leading AUV1, v v is the speed of the virtual navigator, and also the speed of the formation’s obstacle avoidance path. is a constant parameter vector, and Γ is a set constant diagonal positive definite matrix.

[0019] Furthermore, v v is the movement speed of the virtual navigator, ua1 is the speed of the leader, R is the stiffness matrix, and based on the AUV formation controller, a safe and efficient obstacle avoidance path is planned for multiple AUV formations under current interference as follows:

[0020] Analyze the combined force of the AUV under the attraction of the target point, the repulsion of obstacles and the force of the ocean current, and calculate the heading angle of the obstacle avoidance navigation;

[0021] According to the direction of the combined force, the obstacle avoidance navigation path of the formation AUV is planned, and the navigation direction is calculated and adjusted after each navigation for a certain time or distance.

[0022] The present invention also provides a multi-AUV formation obstacle avoidance control system under ocean current interference, the system comprising:

[0023] Water velocity observer, used to obtain the flow velocity of seawater;

[0024] AUV formation controller, used to achieve stable navigation and obstacle avoidance of the formation in the ocean current;

[0025] The path planning module is used to enable a multi-AUV formation to plan a safe and efficient obstacle avoidance path under the interference of ocean currents.

[0026] The present invention also provides an electronic device, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the above-mentioned multi-AUV formation obstacle avoidance control method under ocean current interference.

[0027] The present invention also provides a computer-readable storage medium, characterized in that it stores a computer program, and the computer program is executed by a processor to implement the above-mentioned multi-AUV formation obstacle avoidance control method under ocean current interference.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] Firstly, by introducing a water speed observer and designing a controller, the influence of ocean currents on the formation can be effectively overcome. In a set constant ocean current environment, the AUV formation can reach the target area without collision. In a non-steady-state (time-varying) ocean current disturbance environment, the formation controller can also plan a satisfactory navigation path. In an eddy current environment, formation reconstruction and obstacle avoidance can also be achieved.

[0030] Secondly, compared with other formation control methods, the controller method for AUV formation used in the present invention takes into account the interference of constant ocean current and unstable ocean current factors on the formation AUV.

[0031] Finally, the control algorithm used in the present invention is compared with other algorithms. The control algorithm used in the present invention is feasible and effective under certain environmental conditions, that is, the formation can be reconstructed in time and can adapt to narrower and more demanding environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the embodiments of the invention. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0033] Figure 1 Schematic diagram of obstacle avoidance navigation of multiple AUV formations under the interference of ocean currents, where 1, 3, and 5 are static obstacles, 2 is the final position of the AUV, 4 is a dynamic obstacle, 6 is the initial position of the AUV, and 7 is a simulated ocean current;

[0034] Figure 2 It is a schematic diagram of the motion trajectory of the multi-AUV steady current interference formation displacement reconstruction obstacle avoidance without current observer in this embodiment;

[0035] Figure 3 Schematic diagram of the motion trajectory of the multi-AUV steady current interference formation displacement reconstruction obstacle avoidance with current observer in this embodiment;

[0036] Figure 4 Schematic diagram of the distance error between any two AUVs in the displacement reconstruction and obstacle avoidance of the formation disturbed by the steady current in this embodiment;

[0037] Figure 5 This is a schematic diagram of the control input of each AUV for the displacement reconstruction and obstacle avoidance of the formation disturbed by the steady current in this embodiment;

[0038] Figure 6 This is a schematic diagram of the motion trajectory of the multi-AUV unsteady current interference formation scaling and reconstruction obstacle avoidance without current observer in this embodiment;

[0039] Figure 7 It is a schematic diagram of the motion trajectory of the current observer for scaling and reconstructing the obstacle avoidance of the multi-AUV unsteady current interference formation in this embodiment;

[0040] Figure 8 Schematic diagram of the distance error between any two AUVs in the unsteady current interference formation displacement reconstruction obstacle avoidance in this embodiment;

[0041] Fig. 9 Schematic diagram of control input of each AUV for unsteady current interference formation displacement reconstruction and obstacle avoidance in this embodiment;

[0042] Fig.10This is a schematic diagram of the global motion trajectory of multiple AUV vortex field formation shearing and reconstruction obstacle avoidance in this embodiment;

[0043] Fig.11 Schematic diagram of the local motion trajectory of the multi-AUV vortex formation shear reconstruction obstacle avoidance at time t=150s in this embodiment;

[0044] Fig.12 Schematic diagram of the distance error between any two AUVs in the eddy current interference formation shear reconstruction obstacle avoidance in this embodiment;

[0045] Fig.13 Schematic diagram of control input of each AUV for eddy current interference formation shear reconstruction obstacle avoidance in this embodiment;

[0046] Fig.14 Schematic diagram of the ocean current model simulated by the function in this embodiment. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] The present invention provides a multi-autonomous underwater vehicle (AUV) formation obstacle avoidance control method under ocean current interference, so as to incorporate the influence of ocean current factors on the multi-AUV formation into the reconstruction of obstacle avoidance. The present invention is further described in detail in conjunction with the accompanying drawings and specific implementation methods.

[0049] Step 1: Since the seawater in the AUV's working environment is not static and the AUV's own onboard sensor equipment is not easy to measure the absolute speed of the ocean current, a nonlinear disturbance observer (NDO) is first designed to estimate the water speed online to eliminate the influence in the control channel.

[0050] Step 2: Based on the data obtained by the water speed observer in step 1 and the control algorithm designed by the present invention, the formation controller design in the ocean current environment is completed.

[0051] Step 3: Considering the combined force of the ocean current on the formation and the repulsive forces of multiple obstacles and simulating the ocean current velocity vector field, the virtual AUV will sail forward under the combined force of various forces until it reaches the target area, thus realizing obstacle avoidance path planning in the ocean current environment.

[0052] In step 1, this embodiment designs a water velocity observer, specifically:

[0053] From the working condition of the water speed observer, we can know that the dynamics of the i-th AUV is:

[0054]

[0055] In the formula, For {X i ,Y i} relative to {X0, Y0} (i.e., the attitude of the AUV), η i =(v i ,ω i ), v i is the i-th AUV in The speed of movement in the direction, ω i is the i-th AUV passing through the center of mass point c i The angular velocity of a point on the vertical axis, For external ocean current disturbance, is the constant damping matrix, The power system provides force / torque level control input, m i is the mass of the i-th AUV, I i The i-th AUV passes through the center of mass point c i The vertical axis moment of inertia, and

[0056]

[0057] Therefore, the corresponding Euler-Lagrange type dynamic model is obtained:

[0058]

[0059] in

[0060] In the formula, C i is the centripetal matrix, M i is a uniformly positive definite and symmetric inertia matrix, with the aid of auxiliary variables β, and,

[0061]

[0062] L i Represents a distance. Combined with (1) (2), an exponentially convergent disturbance observer is constructed to observe the time-varying external disturbances of the system (1) (2), as shown below:

[0063]

[0064] where K0 is an arbitrary positive definite symmetric observer matrix, It is a disturbance of ocean currents In general, for There is no prior information about the derivative of . For steady currents, we can assume This means that the disturbance changes slowly relative to the dynamics of the observer. Due to the ever-changing ocean environment and limited energy, the disturbance is considered to be a time-varying disturbance with a finite rate of change. In order to prove the convergence of NDO to real disturbances, the observer error is defined as:

[0065]

[0066] Through (1)(2)(4), we can get:

[0067]

[0068] Derivative (5), that is, the derivative of the observer error is:

[0069]

[0070] From (7), we can see that when K0 takes a positive value, the observer error converges globally asymptotically to zero. Through the proposed disturbance observer, the control goal of designing NDO for unknown disturbances acting on multiple AUVs is achieved.

[0071] In step 2, the formation controller is designed in the ocean current environment, specifically:

[0072] First, assume that the Euler-Lagrangian dynamic model is completely known for each of the n AUVs. From the assumption, we get:

[0073]

[0074] Correspondingly, the Lyapunov function can be expressed as:

[0075]

[0076] Among them, the Lyapunov function And in this function, (i,j)∈ε * The order is the order in the edge function. This function is positive definite on e, and its isosurface W(e) = c. For some c>0, on e ij ≥-d ij s=vv d , Represents the control input of the virtual hand

[0077] is the superimposed variable of the control input.

[0078] And in (11), M(p) = diag(M1(p1),M2(p2),…,M n (p n )). Introducing the Lyapunov function, we get:

[0079]

[0080] Taking the derivative of (12) we get:

[0081]

[0082] in: D(p)=diag(D1(p1),D2(p2),…,D n (p n )),

[0083] Derivative of (11) yields:

[0084]

[0085] Combining (13) and (14), the Lyapunov function is updated as follows:

[0086]

[0087] Taking the derivative of (14) we get:

[0088]

[0089] In the formula,

[0090] is a known regression matrix. The control input τ of the formation should be designed to satisfy this condition, even if becomes a negative semidefinite function. Based on (13), an adaptive control under ocean current disturbance is proposed:

[0091]

[0092] u a =R + (p)(-k v z+d p ) (19)

[0093] v m =(k1+1)e t +v v -u a1 (20)

[0094]

[0095] Among them, k1 is a positive constant, k1 is the speed of the fleet, e t =p v -p1 is the position error between the formation obstacle avoidance path planning point and the leading AUV1, v v is the navigation speed of the formation obstacle avoidance path, that is, the navigation speed of the virtual pilot AUV. It can be obtained from the following formula:

[0096]

[0097] where F total (p v ) is at the virtual point p v The total force applied to the virtual AUV at m v is the mass parameter of the virtual AUV, δ t is the simulation step length.

[0098] Stability analysis:

[0099] Substituting (17) and (21) into (16), we obtain:

[0100]

[0101] W(e) is the Lyapunov function, -4k v W(e) has obvious negative definiteness, and equation (23) can be written as:

[0102]

[0103] Among them, λ(·) min represents the minimum eigenvalue, ε is a positive constant, so λ(K0-ε) min is strictly positive and Follow the perfect square inequality. And from (24)W φ (t) is a decreasing function, so the distance error and s converge to zero exponentially as t→∞.

[0104] In step 3, the obstacle avoidance path planning in the ocean current environment is as follows:

[0105] The obstacle avoidance problem of the formation under the interference of ocean currents studied in this embodiment needs to take into account the ocean current force F c The impact on the formation. The force on the virtual AUV mainly includes the gravitational part and the repulsive part. In the inertial coordinate system O-XY, the target point position is p g =(x g ,y g ), the position of the virtual AUV in the formation is p v =(x v ,y v ),set up is the angle between the line connecting the virtual AUV and the target point and the X-axis direction. Then the attraction F generated by the target point attraction field on the virtual AUV att The component force in the X-axis direction is F attx =|F att |cosα, and the component force in the Y-axis direction is F atty =|F att |sinα.

[0106] Assume that the i-th obstacle The center coordinates of Likewise, is the angle between the line connecting the virtual AUV and the ith obstacle and the X-axis direction.

[0107] The repulsive force exerted by the obstacle on the virtual AUV is the negative gradient of the repulsive function:

[0108]

[0109] The superscript i represents the i-th obstacle, k rep is the coefficient of the repulsion function, p obs is the location information of the i-th obstacle in the environment, and ρ0 is the influence radius of the repulsive potential field.

[0110] From the following formula, we can get that in the potential field of multiple AUV formations, the i-th obstacle is The repulsive force generated The component in the direction of the line connecting the obstacle and the virtual AUV is The other component of the direction of the line connecting the target point and the virtual AUV is Repulsion The force component in the X-axis direction is The component force in the Y-axis direction is Repulsion The force component in the X-axis direction is The force component in the Y-axis direction is

[0111] Assume that the force F exerted by the ocean current on the virtual AUV is c The angle between the current and the X-axis can be expressed as γ, then the current force F c It can be decomposed into the vertical and horizontal axes respectively. The component force on the X axis is F cx =|F c |cosγ, the component force on the Y axis is F cy =|F c |sinγ.

[0112] In the multi-AUV formation, under the combined force of the attraction of the target point, the repulsion of K obstacles and the force of the ocean current, the combined force on the virtual AUV and the obstacle avoidance heading angle are It can be calculated by the following formulas (26) and (27):

[0113] F total (p v )=F att (p v )+F rep (p v )+F c (p v ) (26)

[0114]

[0115] In the ocean current environment, the AUV formation is under the combined force F total The formation navigates and avoids obstacles under the action of the robot. After each time the formation sails for a certain period of time (set step length) or distance, the heading is calculated and then the navigation direction is adjusted until the formation reaches the target area.

[0116] The following is an example of a time-varying flow field that flows east-west and meanders north-south in a horizontal plane:

[0117] The time-varying flow field is generated by a simulated stream function ψ(x, y, t). At time t, the mathematical expression of the stream function is:

[0118]

[0119] Where B(t) = B0 + ε × cos(ωt + θ), B0 = 1.2, c = 0.12, β = 0.84, ω = 0.4, ε = 0.3, θ = π / 2, and the ocean current streamlines generated based on the flow field stream function ψ(x, y, t) are as follows: Fig.14 shown.

[0120] The velocity field of ocean current is a vector field, belonging to the plane flow of incompressible fluid, which can be obtained by differentiating ψ(x,y,t):

[0121]

[0122] Where u c (x,y,t),v c (x, y, t) is the ocean current velocity vector field at time t, where u c (x,y,t) represents the velocity component of the ocean current along the X-axis, v c (x, y, t) represents the velocity component of the ocean current along the Y-axis direction, (x, y) is the position of the current point in the flow field disturbed by the ocean current, and the present invention takes it as the center point p of the virtual AUV v .

[0123] In the artificial potential field, the effect of the ocean current on the AUV will be considered different from the gravity F of the target point on the AUV. att and the repulsive force F of the obstacle on the AUV rep The third field force F c (really exists and is not virtual), and its definition is:

[0124] F c =k c V c (30)

[0125] Where V c is the speed of the ocean current, k c is the ocean current influence coefficient.

[0126] When the ocean current is taken into account, the combined force on the AUVs in the formation is:

[0127] F total =F att +F rep +F c (31)

[0128] In summary, the resultant force on the virtual AUV in the formation at any position in the potential field space conforms to formula (15). The virtual AUV will sail forward under the effect of the resultant force until it reaches the target area. In the subsequent simulation environment, considering the proportional relationship between the size of the AUV and the size of the map, the virtual AUV in the formation is simplified to a particle model, and the path of the particle is the obstacle avoidance navigation path of the formation AUV.

[0129] Next, a numerical simulation of a multi-AUV system based on the Euler-Lagrangian model is conducted to verify the feasibility of the dynamic obstacle avoidance algorithm based on the improved artificial potential field (IAPF) and affine transformation formation reconstruction in the ocean current environment. The obstacle avoidance simulation experiments are carried out in steady flow and eddy current environments, such as Figure 1 The figure shows a schematic diagram of formation reconstruction and obstacle avoidance. Considering a formation system consisting of seven AUVs, the expected formation is a regular hexagon with AUV No. 7 as the midpoint. Using Matlab software, the designed formation reconstruction and obstacle avoidance algorithm is simulated and verified in an ocean current interference environment.

[0130] This section verifies the obstacle avoidance of multiple AUV formations, and simulates three scenarios, namely, formation obstacle avoidance under constant current interference, formation obstacle avoidance under unsteady current interference, and formation obstacle avoidance in eddy environments. The controller based on the IAPF obstacle avoidance path planning is simulated and verified, with 1 leading AUV and 6 following AUVs, that is, 7 AUVs as the simulation targets of this experiment.

[0131] First, for formation reconstruction and obstacle avoidance in a steady current environment, in view of the steady current interference, this embodiment designs a current observer to compensate for the disturbance of the external environment. The obstacle environment is visualized in the simulation map, and the starting point (0,0) and the target point (55,50) are set for the virtual AUV, and multiple static obstacles of different sizes are set. The potential field gravity coefficient k att =5, k rep = 10. A steady (time domain) ocean current with an X-axis angle of 45° was selected for simulation experiments, and the current flow field was simulated using the following stream function model:

[0132] ψ(x,y)=y+3x+2x 2 +3xy+3y 2 (32)

[0133] The velocity field is obtained from the stream function field:

[0134]

[0135] In the absence of a disturbance observer, the paths of the seven AUVs planned by IAPF under constant ocean currents are shown below: Figure 2 As shown in the figure, it can be found that under the interference of the current ocean current, the formation AUV collides with the obstacle at about t = 80s. Figure 3 The navigation path of a multi-AUV formation with a disturbance observer under the same conditions is shown. It can be seen that the multi-AUV formation can effectively avoid obstacles, plan a safe and collision-free navigation path, and successfully reach the target point.

[0136] Figure 4 is the error diagram of the distance between any two AUVs and the expected formation configuration distance, Figure 5 is the AUV control input. By comparing Figure 4 and Figure 5 From the two formation AUV navigation paths in the figure, it can be found that under the influence of ocean currents, the AUV navigation paths will deviate significantly. The influence of ocean currents on navigation path planning is quite obvious. The algorithm with added NDO fully considers the influence of ocean currents on AUV motion, which greatly enhances the adaptability of formation AUV to the environment, proving that the algorithm is feasible.

[0137] Secondly, for the formation reconstruction and obstacle avoidance in the unsteady current environment, the starting point (0,0) and the target point (55,50) are set for the virtual AUV, and multiple static obstacles of different sizes and two dynamic obstacles with directional uniform motion are set, with the starting point and direction being p respectively. obs1 =(25,-5), p obs2 =(25,55), potential field gravitational coefficient k att =5, repulsion coefficient k rep= 10. The stream function (32) is used to simulate the ocean current.

[0138] Figure 6 The navigation path of the AUV planned by the algorithm under the disturbance of unsteady ocean current for the undisturbed observer. It can be found that at t = 140s, some of the following AUVs collided with static obstacles and failed to avoid the obstacle. Figure 7 When the ocean current observer is added, the obstacle avoidance trajectory diagram of the algorithm shows that the AUV can successfully reach the target position through the simulation path.

[0139] Figure 8 is the error diagram of the distance between any two AUVs and the expected formation configuration distance, Fig. 9 Input for AUV control.

[0140] Finally, for formation reconstruction and obstacle avoidance in the eddy current environment, the starting point (0,0) and the target point (55,50) are set for the virtual AUV, and multiple static obstacles of varying sizes are set. att =5, repulsion coefficient k rep =10.

[0141] The simulation result is that the leading AUV moves forward along the planned route, while the following AUV follows closely behind it. Fig.10 It can be seen that in the presence of the ocean current observer, the formation AUVs avoided obstacles well and reached the destination. Fig.11 , which is a local enlarged picture at t=150s. It can be seen that the formation successfully avoided the obstacle by shear transformation.

[0142] Fig.12 is the error diagram of the distance between any two AUVs and the expected formation configuration distance, Fig.13 The simulation results show that the proposed algorithm can effectively avoid dynamic and static navigators in eddy current environments and can adapt to complex ocean current environments.

[0143] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-AUV formation obstacle avoidance control method under ocean current interference, characterized in that: The method comprises: Design a water velocity observer to obtain the flow velocity of seawater; Based on the flow velocity of the seawater, an AUV formation controller is designed; Based on the AUV formation controller, a safe and efficient obstacle avoidance path is planned for a multi-AUV formation under the interference of ocean currents.

2. The multi-AUV formation obstacle avoidance control method under ocean current interference according to claim 1 is characterized in that: The water speed observer is constructed based on the dynamic model of the AUV and the exponential convergence principle.

3. The multi-AUV formation obstacle avoidance control method under ocean current interference according to claim 1 is characterized in that: The AUV formation controller is constructed based on the AUV dynamics model and Lyapunov stability theory, specifically: The control input is designed to satisfy the condition that the Lyapunov function becomes a negative semidefinite function. An adaptive control algorithm is introduced to adjust the control input according to the navigation speed and position error of the multi-AUV formation to achieve stable navigation and obstacle avoidance of the multi-AUV formation in the ocean current.

4. The method for controlling the obstacle avoidance of multiple AUV formations under ocean current disturbance according to claim 1, characterized in that: The adaptive control algorithm is specifically: u a =R + (p)(-k v z+d p ) v m =(k1+1)e t +v v -u a1 In the formula, k a , k v , k1 is the normal coefficient, s is the introduced speed variable, is the regression matrix, v m is the relative speed of the navigator following the virtual navigator, J is the coordinate transformation matrix, is the external disturbance matrix, v d is the speed of the formation, R is the stiffness matrix, R + (p) = R T (p)(R(p)R T (p)) -1 is the Moore-Penrose pseudo-inverse matrix, e t =p v -p1 is the position error between the formation obstacle avoidance path planning point and the leading AUV1, v v is the speed of the virtual navigator, and also the speed of the formation’s obstacle avoidance path. is a constant parameter vector, and Γ is a set constant diagonal positive definite matrix.

5. The method for controlling obstacles of multiple AUV formations under ocean current disturbance according to claim 1, characterized in that: Based on the AUV formation controller, a safe and efficient obstacle avoidance path is planned for multiple AUV formations under the interference of ocean currents as follows: Analyze the combined force of the AUV under the attraction of the target point, the repulsion of obstacles and the force of the ocean current, and calculate the heading angle of the obstacle avoidance navigation; According to the direction of the combined force, the obstacle avoidance navigation path of the formation AUV is planned, and the navigation direction is calculated and adjusted after each navigation for a certain time or distance.

6. A multi-AUV formation obstacle avoidance control system under ocean current interference, characterized in that: The system comprises: Water velocity observer, used to obtain the flow velocity of seawater; AUV formation controller, used to achieve stable navigation and obstacle avoidance of the formation in the ocean current; The path planning module is used to enable a multi-AUV formation to plan a safe and efficient obstacle avoidance path under the interference of ocean currents.

7. An electronic device, characterized in that: It includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the multi-AUV formation obstacle avoidance control method under ocean current interference according to claims 1-5.

8. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the obstacle avoidance control method for multiple AUV formations under ocean current interference as described in claims 1-5.

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