三阶多机器人协同编队动态避障控制

doi:10.16182/j.issn1004731x.joss.21-0322

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (8): 1762-1774.doi: 10.16182/j.issn1004731x.joss.21-0322

三阶多机器人协同编队动态避障控制

张玉超(), 蒋沅(), 代冀阳

南昌航空大学信息工程学院，江西南昌 330063

收稿日期:2021-04-15 修回日期:2021-06-09 出版日期:2022-08-30 发布日期:2022-08-15
通讯作者: 蒋沅 E-mail:17862071035@163.com;jiangyuan@nchu.edu.cn
作者简介:张玉超(1996-)，女，硕士，研究方向为多智能体协同控制。E-mail：17862071035@163.com
基金资助:
国家自然科学基金(61663032)

Dynamic Obstacle Avoidance Control of Three-order Multi-robot Cooperative Formation

Yuchao Zhang(), Yuan Jiang(), Jiyang Dai

School of Information Engineering, Nanchang Hangkong University, Nanchang 330063, China

Received:2021-04-15 Revised:2021-06-09 Online:2022-08-30 Published:2022-08-15
Contact: Yuan Jiang E-mail:17862071035@163.com;jiangyuan@nchu.edu.cn

摘要/Abstract

摘要：

针对智能水下机器人编队在三维复杂环境中的避障和一致性控制问题，提出了协同编队动态避障控制算法。建立了基于动态障碍物运动速度的自适应斥力增益项，并将其引入斥力势场函数中，使机器人安全规避静态及动态障碍物，定义了基于机间势场增益项和机间通信权重的机间势场函数，解决机器人易自撞、脱离编队的问题；将机器人在势场作用下的合加速度引入一致性协议中，结合改进势场与一致性理论设计编队协同避障控制器；通过Lyapunov函数方法证明了稳定性。仿真结果表明：多机器人在该算法下能安全避障并实现位置、速度的一致性。

关键词: 智能水下机器人, 编队避障, 人工势场, 自适应斥力增益项, 一致性理论

Abstract:

Aiming at the obstacle avoidance and consensus control of underwater vehicles formation in a 3D complex environment, a cooperative formation dynamic obstacle avoidance control algorithm is proposed. An adaptive repulsion gain term based on the speed of dynamic obstacles is established and it is introduced into the repulsion potential field function to enable the robot to safely avoid static and dynamic obstacles. The potential field function based on the gain term of the potential field and the communication weight between the AUVs are defined to solve the robots of easy self collision and leaving the formation. The total acceleration of the AUVs under the action of the potential field is introduced into the consensus protocol, and the formation cooperative obstacle avoidance controller is designed by combining the improved artificial potential field and the consensus theory. The Lyapunov function is used to prove the stable convergence. The simulation results show that multi-AUV can safely avoid obstacles and achieve the consensus of position and speed with the algorithm.

Key words: autonomous underwater vehicles(AUV), formation avoidance, artificial potential field, adaptive repulsion gain term, consensus theory

中图分类号:

TP391.9

张玉超, 蒋沅, 代冀阳. 三阶多机器人协同编队动态避障控制[J]. 系统仿真学报, 2022, 34(8): 1762-1774.

Yuchao Zhang, Yuan Jiang, Jiyang Dai. Dynamic Obstacle Avoidance Control of Three-order Multi-robot Cooperative Formation[J]. Journal of System Simulation, 2022, 34(8): 1762-1774.

图/表 12

图 1

图2

图3

表 1

表 2

表 3

参数数据表

参数	数值
$α r t 1$ $α r t 2$	1.0 3.0
δ	0.1
ζ	350
$λ 1$	0.15
$λ 2$	15
$λ 3$	0.1
$m$	0.5

表 3

图4

图5

图6

图7

图8

图9

参考文献 18

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名称	编号	坐标
AUV的起始位置	1	(35， 450， 110)
	2	(65， 450， 80)
	3	(35， 45， 80)
	4	(65， 450， 80)
AUV的目标点位置	1	(435， 50， 110)
	2	(465， 50， 110)
	3	(435， 50， 80)
	4	(465， 50， 80)

障碍物	编号	坐标
正方体	1	(300， 235， 0)
	2	(350， 180， 0)
	3	(340， 130， 0)
	4	(260， 130， 0)
	5	(200， 180，00)
	6	(300， 350， 0)
锥体	1	(175， 50， 0)
	2	(400， 325， 0)
	3	(275， 440， 0)
球体	1	(190， 231， 110)
	2	(175， 310， 120)
	3	(260， 292， 110)
	4	(175， 460， 120)
	5	(260， 60， 75)
	6	(370， 360， 100)
数学函数模型	1	(450， 450， 190)
	2	(200， 300， 60)
	3	(75， 425， 80)
	4	(375， 70， 60)
	5	(455， 200， 150)
	6	(70， 70， 130)

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三阶多机器人协同编队动态避障控制

Dynamic Obstacle Avoidance Control of Three-order Multi-robot Cooperative Formation

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