无人艇集群在海道测量中协同控制的实现

为了解决无人艇集群在海道测量航行过程中的一致性问题,本文采用基于一致性理论协同和控制的方法,针对无人艇集群作业开展协同控制研究,在多无人艇协同自组网测量作业中得到了应用。根据不同测量任务,设计满足条件的分布式一致性控制器。将自组网测量系统模型化,对整个编队网络构建模型矩阵及特征方程。通过分析模型矩阵的特征根,得到整个编队网络的关键信息,并加入时间约束,通过求解相应可行解,运用一致性编队控制算法,结合所得编队网络关键信息,最终使自组网编队在有限时间内快速达到目标状态一致。同时加入避碰机制,使多无人艇相互之间处于安全距离外不碰撞。在无人平台协同作业控制方面具有一定的指导和实践意义。

Achieving of USV group cooperation and control on hydrographic survey

To resolve the issue of consistency when unmanned surface vessel(USV) group operate collaboratively in hydrographic survey,in this paper adopting the method of cooperative and control based on consistency theory, controlling multi-USV collaborative operation is studied, which has been applied in multi-USV cooperative survey.According to different survey tasks, a distributed consistency controller is designed to meet the requirements.The self-organized network survey system is modeled, model matrix and characteristic equation areconstructedfor the whole formation network. By analyzing the characteristic roots of the model matrix, the key information of the entire formation network is obtained, and time constraint is added. By solving the corresponding feasible solution, the consistent formation control algorithm is applied, combined with the key information of the formation network. Finally, the self-organized network formation achieves the consistency of the target and state quickly in a limited time.At the meantime, collision avoidance mechanism is added, so that multi-USV do not collide with each other at a safe distance. It has certain guidance and practical significance in the control of unmanned platform to operate collaboratively.