摘要
自主水下航行器(AUV)的协同控制作为海洋开发和多机器人系统之间的交叉领域,近几十年来越来越受到研究人员和工程师的关注。目前,AUV协同控制理论体系尚处于构建之中,相关研究正面临诸多亟待解决的难题。文中对多AUV协同控制问题中的编队控制、协同导航和定位、协同路径规划、任务分配以及目标围捕等研究进行了全面调研,同时分析了编队控制的网络架构、协同策略以及其面临的约束等问题。最后讨论了未来可能研究的相关方向,为在复杂的海洋应用场景中合理利用AUV来完成各种水下任务提供相关参考。
In recent decades,as a cross-research field of ocean exploitation and multi-robotic system,the cooperative control of autonomous undersea vehicles(AUVs)has received increasing attention from researchers and engineers.A theoretical framework for cooperative control of AUVs is under development,and relevant research is facing many problems that must be solved urgently.This paper presents a comprehensive survey of formation control,cooperative navigation and localization,cooperative path planning,task assignment,and target capture for multi-AUV cooperative control problems.We also analyzed the network architecture and cooperative strategy for formation control,as well as the constraints they face.Finally,relevant directions for future research are discussed to provide valuable insights into the rational use of AUVs for various underwater tasks in complex marine application scenarios.
作者
闫敬
陈天明
关新平
杨晛
罗小元
YAN Jing;CHEN Tian-ming;GUAN Xin-ping;YANG Xian;LUO Xiao-yuan(School of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China;School of Electronic,Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《水下无人系统学报》
2023年第1期108-120,共13页
Journal of Unmanned Undersea Systems
基金
国家自然科学基金优青项目资助(62222314).
关键词
自主水下航行器
协同控制
编队控制
协同导航和定位
协同路径规划
任务分配
autonomous undersea vehicle
cooperative control
formation control
cooperative navigation and localization
coordinated path planning
task assignment
作者简介
闫敬(1985−),男,博士生导师,教授,主要研究方向为水下机器人/传感网协同监测.
