CN112578814B - Linear track tracking control method for formation of multiple autonomous underwater vehicles - Google Patents
Linear track tracking control method for formation of multiple autonomous underwater vehicles Download PDFInfo
- Publication number
- CN112578814B CN112578814B CN202011484196.8A CN202011484196A CN112578814B CN 112578814 B CN112578814 B CN 112578814B CN 202011484196 A CN202011484196 A CN 202011484196A CN 112578814 B CN112578814 B CN 112578814B
- Authority
- CN
- China
- Prior art keywords
- uuv
- formation
- speed
- autonomous underwater
- underwater vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000013461 design Methods 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims description 8
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000004088 simulation Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a method for tracking and controlling a linear track for formation of multiple autonomous underwater vehicles, which ensures that a UUV accurately moves along an expected track through tracking control, and is particularly important for an accurate measurement task; through the design of speed control instructions of all UUV, all UUV gradually converge to the expected formation in the x direction, and the whole formation system is at the expected speed u while the formation is maintainedd(t) movement; the invention has wide application range. The invention can be applied to UUV and formation linear track tracking control of various underwater robots.
Description
Technical Field
The invention relates to a control method of an autonomous underwater vehicle, in particular to a linear track tracking control method for formation of multiple autonomous underwater vehicles.
Background
Autonomous Underwater vehicles (UUV) are one of the important tools for future ocean exploration and development. It can make comprehensive investigation and research at the depth which can not be reached by general diving technique and can implement several operations, so that it can make ocean development come into new generation. No matter the demand on exploration and development of marine oil, laying and maintenance of submarine pipelines, marine investigation and military affairs, all need the participation of UUV. And with the enhancement of the functions of the robot and the progress of artificial intelligence, the application range of the robot is wider and wider, a discipline for comprehensively applying various knowledge to serve industrial production and people's life is gradually formed, and the development level of national ocean high-tech is reflected to a great extent.
UUVs are one of the important tools for future ocean exploration and development. Because the knowledge and the capability of individuals are limited, the performance indexes of single UUV are far from meeting the requirements. The potential application of the multi-UUV technology in military and marine science research is great, so that the multi-UUV technology becomes one of necessary directions for research and development of the autonomous underwater vehicle. The system composed of a plurality of UUV can expand the perception range of a single UUV through isomorphic or heterogeneous modes, enhance the fault tolerance capability of the system, and realize the complex task that the single UUV can not complete or is difficult to complete, thereby enabling the whole system to have higher intelligence and stronger functions. The multi-UUV system has the characteristics of spatial distribution, functional distribution and time distribution, and has wide application prospects in many aspects such as ocean stereo reconnaissance, cluster anti-submergence, underwater target search and the like. At present, most of multi-UUV systems adopt distributed cooperative control, the calculation amount is overlarge, each UUV needs to carry an onboard computer, the cost is overlarge, and the calculation is too complex.
The technical problem solved by the invention is as follows: under the condition of avoiding overhigh calculation cost of general formation control, the linear track tracking control of the multi-UUV formation is realized. The tracking control method provided by the invention is a centralized control method, only the main UUV needs to process the data transmitted by the other UUV for tracking control, so that a large amount of calculation and cost can be saved, and compared with the existing centralized control method, the robustness is stronger.
The technical scheme of the invention is as follows: a linear track tracking control method for formation of multiple autonomous underwater vehicles is characterized by comprising the following steps:
step 1: initial setting: defining a plurality of autonomous underwater vehicles, wherein one autonomous underwater vehicle is used as a master UUV, and the rest autonomous underwater vehicles are used as slave UUV; calculating a motion error control model of the main underwater vehicle to realize the control of the self linear track; simultaneously, the other underwater vehicles transmit the collected central point coordinates (x, y) and the yaw angle psi to the main underwater vehicle along the linear speed and the angular speed of two shafts of the carrier coordinate system, and the motion error control model is calculated in the main UUV;
step 2: establishing a motion error control model, comprising the following substeps:
step 1.1: acquiring data through a measuring sensor carried on the autonomous underwater vehicle to obtain the central point coordinates (x, y) and the yaw angle psi of the current position of the autonomous underwater vehicle, and the linear speed and the angular speed of two shafts along a carrier coordinate system; by giving the desired transverse coordinate ydThe "virtual control amount" desired heading angle defining the lateral tracking error e is
Wherein
e＝y-yd，ydIs a desired lateral coordinate value and has
Step 1.2: from the desired course angle
Thereby obtaining a reference course angular velocity of:
u represents the forward velocity of the autonomous underwater vehicle, v represents the lateral velocity of the autonomous underwater vehicle;
step 1.3: according to virtual controlManufacturing desired heading angle psidAnd a reference course angular velocity rdAnd calculating the relative tracking deviation of the autonomous underwater vehicle and the expected heading:
wherein u ise,ψe,reRespectively a forward speed tracking error, a course angle tracking error and a course angular speed tracking error; u. ucFor a given speed command;
step 1.4: according to the result obtained in the step 1.3, calculating a tracking kinematic error model of the autonomous underwater vehicle:
wherein the linear tracking error χ is globally K-exponential stable, and the velocity in the x-direction eventually converges to the velocity command uc(t); step 2: calculating a speed control command and forward thrust of the main UUV according to the underwater vehicle motion model obtained in the step 1.4; meanwhile, the straight-line formation track tracking control of the main UUV on the other underwater vehicles is realized by combining the data information transmitted by the other underwater vehicles, and the method comprises the following substeps:
step 2.1: by coordinating speed commands u of the main underwater vehicleci(t) allowing all autonomous underwater vehicles to progressively converge to a desired formation in the x-direction, and while maintaining the formation, the entire formation system at a desired speed ud(t) motion, i.e. implementing formation control, where for UUViDesign speed control command uciIs composed of
Where g (-) is a continuous, differentiable, monotonically increasing, bounded function that satisfies g' (0)>0,g(0)+0，g(·)∈[-a,a]；JiIs UUViA neighbor set of (2);
step 2.2: calculating the forward thrust of each autonomous underwater vehicle as:
the further technical scheme of the invention is as follows: the specific derivation of the model obtained in step 3 includes the following substeps:
substep 1: the horizontal plane motion of the autonomous underwater vehicle is modeled as
And
in the formula, u is the UUV forward speed, v is the UUV lateral speed, and X is the UUV forward thrust;
and substep 2: substituting the relative tracking deviation obtained in the step 2 into the model in the substep 1 to obtain:
in the formula (I), the compound is shown in the specification,
hx1＝cosψ
substep 3: definition of χ ═ ue ψe re e v]T,hx(χ,uc)＝[hx1 hx2 0 hx3 0]And finally obtaining the simplified formula in the step 1.4.
The further technical scheme of the invention is as follows: and defining a vehicle with strong calculation capability of an onboard computer as a main underwater vehicle.
Effects of the invention
The invention has the technical effects that:
the invention designs a cooperative control law, so that the relative distance between the UUV along the x-axis direction gradually converges to a given expected value, and the speed of each UUV is adjusted to a common expected speed, thereby realizing the formation linear tracking control of the UUV. Compared with the prior art, the method has the following advantages and effects:
1. tracking control is realized by designing an autonomous underwater vehicle tracking kinematic error model in the step 1.4, so that the UUV accurately moves along an expected track, which is particularly important for an accurate measurement task;
2. through the design of the speed control instruction of each UUV in the step 2.1, the fact that all the UUV gradually converge to the expected formation in the x direction is achieved, and the formation is maintained, and meanwhile, the whole formation system is at the expected speed ud(t) movement;
3. the application range is wide. The invention can be applied to UUV and formation linear track tracking control of various underwater robots.
Drawings
Fig. 1 is a schematic view of a linear track following of an under-actuated autonomous underwater vehicle; in the figure, k1 is a control parameter, u is the forward speed of the unmanned underwater vehicle, v is the lateral speed of the unmanned underwater vehicle, phi is an instant heading angle, and phi d is a desired heading angle
FIG. 2 is a schematic diagram of multi-UUV formation linear tracking;
in the figure, d12, d13 and d23 are respectively set as the distance between the centers of mass of the UUV1 and the UUV2, the distance between the centers of mass of the UUV1 and the UUV3 and the distance between the centers of mass of the UUV2 and the UUV3 in the x direction. yd1, yd2, yd3 are respectively set y-axis coordinates of UUV1, UUV2, UUV3
FIG. 3 is a communication topology diagram of a multi UUV system;
in the figure, UUV1 is defined as a master UUV, UUV2, UUV3 is defined as a slave UUV, UUV2 and UUV3 respectively communicate with UUV1 through underwater sound, self information (i.e. center point coordinates (x, y) of the current position and yaw angle ψ, and linear speed and angular speed along two axes of a carrier coordinate system) is transmitted to UUV1, UUV1 calculates to obtain respective control input (thrust and speed control instruction) and returns to UUV1 and UUV2, and formation control of multiple UUVs is realized.
FIG. 4 is a block diagram of a multi-UUV formation linear track tracking control system;
FIG. 5 is a flow chart of settlement of a multi-UUV formation linear track tracking controller;
FIG. 6 is a multi-UUV linear track following trajectory diagram;
FIG. 7 is a multi UUV coordinate graph;
FIG. 8 is a graph of multi-UUV velocity;
FIG. 9 is a plot of thrust for a multi-UUV thruster;
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1-9, the invention aims to provide a method for realizing linear track tracking control of formation of UUVs.
The purpose of the invention is realized as follows:
step 4, based on the expected forward speed obtained by calculation in step 3, adopting an information consistency algorithm to design a UUViThe speed control command of (2) adjusts each UUV to a common expected speed;
and 5, deducing the propeller thrust of the autonomous underwater vehicle UUV according to a given UUV kinematics and dynamics model, and then adopting the controller to realize the linear track tracking control of the formation of the UUV.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to a flowchart (fig. 5) and an example. It should be understood that the specific examples described herein are intended only to illustrate the invention and are not intended to limit the invention.
As shown in fig. 1, in the formula,
e＝y-ydis the lateral tracking error; y isdIs a desired lateral coordinate and has
Is defined by a desired heading angle
Defining a corresponding reference heading angular velocity
Forward motion control considering UUVTo make it track time-varying instructions uc(t)。
Wherein u ise,ψe,reThe forward speed tracking error, the course angle tracking error and the course angular speed tracking error are respectively.
For convenience of description, the horizontal plane motion model of the UUV is defined as
And
wherein u is UUV forward speed, v is UUV lateral speed, X is UUV forward thrust, and m is11,m22,m33,d11,d22,d33Is the UUV related kinetic parameter.
And 3, substituting the speed and course tracking error (3) into a forward kinematics equation (4) to obtain a UUV tracking kinematics error model of
In the formula (I), the compound is shown in the specification,
hx1＝cosψ
definition of χ ═ ue ψe re e v]T,hx(χ,uc)＝[hx1 hx2 0 hx3 0]Then formula (6) can be written as
Step 4, adopting an information consistency algorithm to the UUViDesign speed control command uciIs composed of
Where g (-) is a continuous, differentiable, monotonically increasing, bounded function that satisfies g' (0)>0,g(0)+0，g(·)∈[-a,a]；JiIs UUViIs selected.
Step 5, substituting the formula (8) into the forward dynamics equation (5) to obtain forward thrust of
Verifying and analyzing a simulation experiment:
for example, in order to verify the effectiveness of the multi-UUV formation linear track tracking controller designed by the present invention, a simulation test is performed on a planned track: according to step 1 of the invention, a desired formation y is first givend1＝0,yd2＝-100,yd3＝100,d12＝d13＝d 230, desired speed ud5 m/s. Select k1＝0.2,g(·)＝a/πarctan(·),t＝100。
Given initial states of UUV as
u1(0)＝u2(0)＝u3(0)＝3m/s,(x1(0),y1(0))＝(-50,10),(x2(0),y2(0))＝(20,-60)，(x3(0),y3(0))＝(-10,35),ψ1(0)＝0,ψ2(0)＝π/2,ψ3(0) Pi/2, and the rest of the motion parameters are zero.
The simulation system shown in the attached drawing 4 is established in the MATLAB, the controller is used for resolving, the process is shown in the attached drawing 5, after the initial values are given, the formation, the position, the speed and the forward thrust of the UUV at each moment are calculated, the change curves of the position, the speed and the forward thrust of the UUV in the time period are output, and the obtained simulation result is shown in the attached drawings 6-9.
Simulation analysis
FIGS. 6-9 are graphs showing simulation curves of tracking of linear tracks of multi-UUV formation. Fig. 6 is a track diagram of track tracking of multi-UUV linear formation tracks, in which the motion tracks of 3 UUVs can be obtained, and the thin dotted line in the diagram represents the actual positions of the 3 UUVs corresponding to each moment, so that it can be clearly seen from the diagram that the motion formation effect is better, and the effectiveness of the tracking controller provided by the present invention is verified; in fig. 7, the solid line, the dotted line, and the dotted line are coordinate curves of UUV1, UUV2, and UUV3, respectively, and it can be seen from the figure that the x coordinate changes of 3 UUVs after the motion is stabilized are completely synchronous, and the y coordinate thereof is stabilized at the set value (y coordinate)d1＝0,yd2＝-100,yd3100), motion formation is achieved; in fig. 8, the solid line, the dotted line and the dotted line are speed curves of UUV1, UUV2 and UUV3 respectively, and it can be seen that the speeds are kept consistent after the motion is stable, and the linear formation control is realized; in fig. 9, the solid line, the dotted line and the dotted line are thrust curves of UUV1, UUV2 and UUV3, respectively, it can be seen that the thrust of 3 UUVs after the motion is stable is consistent, and the correctness of the designed controller is verified.
Claims (3)
1. A linear track tracking control method for formation of multiple autonomous underwater vehicles is characterized by comprising the following steps:
step 1: initial setting: defining a plurality of autonomous underwater vehicles, wherein one autonomous underwater vehicle is used as a master UUV, and the rest autonomous underwater vehicles are used as slave UUV; calculating a motion error control model of the main underwater vehicle to realize the control of the self linear track; simultaneously, the other underwater vehicles transmit the collected central point coordinates (x, y) and the yaw angle psi to the main underwater vehicle along the linear speed and the angular speed of two shafts of the carrier coordinate system, and the motion error control model is calculated in the main UUV;
step 2: establishing a motion error control model, comprising the following substeps:
step 1.1: acquiring data through a measuring sensor carried on the autonomous underwater vehicle to obtain the central point coordinates (x, y) and the yaw angle psi of the current position of the autonomous underwater vehicle, and the linear speed and the angular speed of two shafts along a carrier coordinate system; by giving the desired transverse coordinate ydThe "virtual control amount" desired heading angle defining the lateral tracking error e is
Wherein
e＝y-yd，ydIs a desired lateral coordinate value and has
Step 1.2: from the desired course angle
Thereby obtaining a reference course angular velocity of:
u represents the forward velocity of the autonomous underwater vehicle, v represents the lateral velocity of the autonomous underwater vehicle;
step 1.3: desired heading angle psi based on virtual control quantitydAnd a reference course angular velocity rdAnd calculating the relative tracking deviation of the autonomous underwater vehicle and the expected heading:
wherein u ise,ψe,reRespectively a forward speed tracking error, a course angle tracking error and a course angular speed tracking error; u. ofcFor a given speed command;
step 1.4: according to the result obtained in the step 1.3, calculating a tracking kinematic error model of the autonomous underwater vehicle:
wherein the linear tracking error χ is globally K-exponential stable, and the velocity in the x-direction eventually converges to the velocity command uc(t)；
And step 3: calculating a speed control command and forward thrust of the main UUV according to the underwater vehicle motion model obtained in the step 1.4; meanwhile, the straight-line formation track tracking control of the main UUV on the other underwater vehicles is realized by combining the data information transmitted by the other underwater vehicles, and the method comprises the following substeps:
step 2.1: by coordinating speed commands u of the main underwater vehicleci(t) allowing all autonomous underwater vehicles to progressively converge to a desired formation in the x-direction, and while maintaining the formation, the entire formation system at a desired speed ud(t) motion, i.e. implementing formation control, for UUViDesign speed control command uciIs composed of
Where g (-) is a continuous, differentiable, monotonically increasing, bounded function that satisfies g' (0)>0,g(0)+0，g(·)∈[-a,a]；JiIs UUViA neighbor set of (2);
step 2.2: calculating the forward thrust of each autonomous underwater vehicle as:
2. the method for controlling the linear track following for the formation of multiple autonomous underwater vehicles according to claim 1, characterized in that the specific derivation of the model obtained in step 3 comprises the following sub-steps:
substep 1: the horizontal plane motion of the autonomous underwater vehicle is modeled as
in the formula, u is the UUV forward speed, v is the UUV lateral speed, and X is the UUV forward thrust;
substep 2: and (3) substituting the relative tracking deviation obtained in the step (2) into the model in the substep (1) to obtain:
in the formula (I), the compound is shown in the specification,
hx1＝cosψ
substep 3: definition of χ ═ ue ψe re e v]T,hx(χ,uc)＝[hx1 hx2 0 hx30]And finally obtaining the simplified formula in the step 1.4.
3. The method for the linear track tracking control of the formation of multiple autonomous underwater vehicles according to claim 1, characterized in that the vehicle with strong calculation capability of the onboard computer is defined as a main underwater vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011484196.8A CN112578814B (en) | 2020-12-15 | 2020-12-15 | Linear track tracking control method for formation of multiple autonomous underwater vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011484196.8A CN112578814B (en) | 2020-12-15 | 2020-12-15 | Linear track tracking control method for formation of multiple autonomous underwater vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112578814A CN112578814A (en) | 2021-03-30 |
| CN112578814B true CN112578814B (en) | 2022-07-05 |
Family
ID=75135465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011484196.8A Active CN112578814B (en) | 2020-12-15 | 2020-12-15 | Linear track tracking control method for formation of multiple autonomous underwater vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112578814B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534817B (en) * | 2021-08-19 | 2023-07-28 | 山东科技大学 | Dynamic modeling and track tracking control method and device for mobile robot |
| CN113911278A (en) * | 2021-10-18 | 2022-01-11 | 西北工业大学 | Underwater vehicle formation arrangement propulsion performance test platform and method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444838A (en) * | 2016-10-25 | 2017-02-22 | 西安兰海动力科技有限公司 | Precise path tracking control method for autonomous underwater vehicle |
| CN107239075A (en) * | 2017-04-19 | 2017-10-10 | 哈尔滨工程大学 | The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking |
| JP2018077728A (en) * | 2016-11-10 | 2018-05-17 | 株式会社Ihi | Mobile body control method and mobile body control system |
| CN108303891A (en) * | 2018-02-11 | 2018-07-20 | 浙江大学 | More AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current |
| CN108549394A (en) * | 2018-04-12 | 2018-09-18 | 哈尔滨工程大学 | A kind of more AUV straight lines formation control methods based on pilotage people and virtual pilotage people |
| CN108594845A (en) * | 2018-03-23 | 2018-09-28 | 哈尔滨工程大学 | More AUV formation methods based on PREDICTIVE CONTROL under a kind of communication limitation |
| CN108663939A (en) * | 2018-06-12 | 2018-10-16 | 哈尔滨工程大学 | Consider the UUV level of constellation face path tracking control method of communication packet loss |
| CN108983612A (en) * | 2018-08-08 | 2018-12-11 | 华南理工大学 | A kind of underwater robot formation control method kept with default capabilities and connection |
| CN110989639A (en) * | 2019-12-31 | 2020-04-10 | 中国电子科技集团公司信息科学研究院 | Underwater vehicle formation control method based on stress matrix |
-
2020
- 2020-12-15 CN CN202011484196.8A patent/CN112578814B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444838A (en) * | 2016-10-25 | 2017-02-22 | 西安兰海动力科技有限公司 | Precise path tracking control method for autonomous underwater vehicle |
| JP2018077728A (en) * | 2016-11-10 | 2018-05-17 | 株式会社Ihi | Mobile body control method and mobile body control system |
| CN107239075A (en) * | 2017-04-19 | 2017-10-10 | 哈尔滨工程大学 | The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking |
| CN108303891A (en) * | 2018-02-11 | 2018-07-20 | 浙江大学 | More AUV distributed collaborations tracking and controlling methods under being disturbed based on uncertain ocean current |
| CN108594845A (en) * | 2018-03-23 | 2018-09-28 | 哈尔滨工程大学 | More AUV formation methods based on PREDICTIVE CONTROL under a kind of communication limitation |
| CN108549394A (en) * | 2018-04-12 | 2018-09-18 | 哈尔滨工程大学 | A kind of more AUV straight lines formation control methods based on pilotage people and virtual pilotage people |
| CN108663939A (en) * | 2018-06-12 | 2018-10-16 | 哈尔滨工程大学 | Consider the UUV level of constellation face path tracking control method of communication packet loss |
| CN108983612A (en) * | 2018-08-08 | 2018-12-11 | 华南理工大学 | A kind of underwater robot formation control method kept with default capabilities and connection |
| CN110989639A (en) * | 2019-12-31 | 2020-04-10 | 中国电子科技集团公司信息科学研究院 | Underwater vehicle formation control method based on stress matrix |
Non-Patent Citations (3)
| Title |
|---|
| Even Børhaug，等.Straight Line Path Following for Formations of Underactuated Underwater Vehicles.《Proceedings of the 46th IEEE Conference on Decision and Control》.2007,第2905-2912页. * |
| 基于模型预测控制的欠驱动AUV直线路径跟踪;张广洁，等;《水下无人系统学报》;20170430;第25卷(第1期);第82-88页 * |
| 欠驱动水下航行器编队协同控制;肖瑞武，等;《集美大学学报（自然科学版）》;20151130;第20卷(第6期);第428-434页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112578814A (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106773689B (en) | AUV formation cooperative control method based on layered distribution type Model Predictive Control | |
| CN106950974B (en) | Three-dimensional path understanding and tracking control method for under-actuated autonomous underwater vehicle | |
| Sun et al. | A review of robot control with visual servoing | |
| CN110989639B (en) | Underwater vehicle formation control method based on stress matrix | |
| CN108829113B (en) | Self-adaptive zero-space behavior fusion method for multi-robot formation | |
| CN112578814B (en) | Linear track tracking control method for formation of multiple autonomous underwater vehicles | |
| CN108594846A (en) | More AUV flight patterns optimal control methods under a kind of obstacle environment | |
| CN109521797A (en) | The optimization mowing type formation control method of unmanned boat guidance submarine navigation device group | |
| CN108663938A (en) | A kind of UUV cluster-coordinator control methods considering communication topological transformation | |
| CN110561420B (en) | Arm profile constraint flexible robot track planning method and device | |
| Jung et al. | An efficient underwater coverage method for multi-AUV with sea current disturbances | |
| CN114047744B (en) | Self-adaptive backstepping sliding mode multi-unmanned ship formation control method based on sampling communication | |
| CN112068440B (en) | AUV recovery butt joint power positioning control method based on model prediction control | |
| Li et al. | Characteristic evaluation via multi-sensor information fusion strategy for spherical underwater robots | |
| Li et al. | Study on obstacle avoidance strategy using multiple ultrasonic sensors for spherical underwater robots | |
| CN113625702A (en) | Unmanned vehicle simultaneous path tracking and obstacle avoidance method based on quadratic programming | |
| CN113485389A (en) | Underwater robot three-dimensional trajectory tracking control method based on self-adaptive prediction | |
| CN114840003B (en) | Single-pilot multi-AUV co-positioning and track tracking control method | |
| CN108829126A (en) | A kind of AUV cluster-coordinator control method considering communication delay | |
| CN110647161B (en) | Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation | |
| CN116257987A (en) | Limited time tracking method of underwater helicopter meeting preset performance | |
| CN113608496B (en) | Spatial path G 2 Transfer fairing method, apparatus and computer readable storage medium | |
| Zhou et al. | Visual servo control of underwater vehicles based on image moments | |
| CN114012733A (en) | Mechanical arm control method for scribing PC (personal computer) component mold | |
| CN112747752A (en) | Vehicle positioning method, device, equipment and storage medium based on laser odometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |