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

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

Abstract

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

CLC Number:

TP391.9

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.

Figures/Tables 12

Fig. 1

Fig. 2

Fig. 3

Table 1

Table 2

Table 3

Parameter data table

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

Table 3

Fig. 4

Fig. 5

Fig. 6

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Fig. 9

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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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