CN-121979253-A - Unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay

CN121979253ACN 121979253 ACN121979253 ACN 121979253ACN-121979253-A

Abstract

The invention discloses a formation transformation and obstacle avoidance control method of unmanned underwater vehicles with time delay, which comprises the steps of constructing an information exchange topological relation among unmanned underwater vehicles based on an undirected communication graph, establishing a motion model of the unmanned underwater vehicles, wherein the motion model comprises a leader kinematic model and a follower kinematic model, the follower kinematic model is a double-integral dynamic model considering time delay and nonlinear factors, designing a distributed control input based on a leader-follower framework to enable the follower to track a virtual target position so as to realize the tracking control of the formation of the unmanned underwater vehicles, calculating an obstacle avoidance offset according to specific conditions, applying the obstacle avoidance offset to an obstacle avoidance formula so as to realize the transformation of a dynamic path, triggering a signal to the follower in set time by the leader, and realizing the transformation of formation based on a preset target position. The invention can comprehensively solve the problems of delay compensation, uncertainty inhibition, formation flexible transformation and smooth obstacle avoidance.

Inventors

WU XIANYING
LIU ZHI

Assignees

广东工业大学
人工智能与数字经济广东省实验室(广州)

Dates

Publication Date: 20260505
Application Date: 20260210

Claims (8)

1. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay is characterized by comprising the following steps of: constructing an information exchange topological relation between multiple unmanned underwater vehicles based on an undirected connectivity graph, wherein the undirected connectivity graph is expressed as Wherein the node sets Represents all unmanned underwater vehicles and edge set Representing communication paths, adjacency matrix Representing the intensity of communication between unmanned underwater vehicles; Establishing a motion model of the multi-unmanned underwater vehicle, wherein the motion model comprises a leader kinematic model and a follower kinematic model, and the follower kinematic model is a double-integral dynamic model considering time delay and nonlinear factors; Based on a leader-follower framework, designing distributed control input to enable a follower to track a virtual target position, and realizing tracking control of multi-unmanned underwater vehicle formation; calculating an obstacle avoidance offset according to specific conditions, and applying the obstacle avoidance offset to an obstacle avoidance formula to realize the transformation of a dynamic path; The leader triggers signals to the follower in the set time, and the formation change is realized based on the preset target position.
2. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay according to claim 1, wherein the motion model of a single unmanned underwater vehicle is a six-degree-of-freedom motion model: ; Wherein, the Representing the spatial position and attitude of the unmanned underwater vehicle in a fixed coordinate system, Representing the dimensions in six directions, wherein, , , Is the position in the three coordinate system directions, Angles in the directions of three coordinate systems; for the spatial position of unmanned underwater vehicles in a fixed coordinate system The attitude of the unmanned underwater vehicle; For the linear and angular speeds of an unmanned underwater vehicle in a motion coordinate system, , ; For linear velocities in three coordinate system directions, Angular velocities in three coordinate system directions; A rotation transformation matrix from a motion coordinate system to a fixed coordinate system; an inertial matrix comprising additional mass for the system; a coriolis force matrix including additional mass; is a damping matrix; Is gravity, buoyancy and moment vector; Is a thrust and moment vector.
3. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay of claim 2, wherein the follower kinematic model is expressed as: ; under normal sailing without spinning current, neglecting the roll speed, writing a nonlinear model of the unmanned underwater vehicle into five degrees of freedom, wherein Respectively represent the first The position and speed of the individual unmanned underwater vehicle; as a continuous, slightly nonlinear function with time delay, a time delay function The continuous and micro-scale type of the glass fiber reinforced plastic material can be used for the continuous and micro-scale type, , ; Is the first A distributed control input for the unmanned underwater vehicle; Nonlinear continuous function The following inequality is satisfied , And All are constant matrices; At the same time, a nonlinear function The following vectors and matrices are defined: ; 。
4. A unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay as claimed in claim 3 wherein the leader kinematic model is expressed as: ; Wherein, the The position and velocity of the underwater vehicle leader, respectively.
5. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay of claim 4, wherein the process of designing the distributed control inputs is as follows: In formation control, the control design targets of each unmanned underwater vehicle are as follows: ; Wherein the method comprises the steps of ; Designing distributed control inputs according to control design goals of formation : ; Wherein, the , Is used to adjust the intensity of the control input, Representing follower And Whether or not there is a link between them, Representing follower And whether or not there is a contact with the leader, Is the relative position of the formation; Is a collection representing all contacts.
6. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay of claim 5, wherein calculating the obstacle avoidance offset in combination with the specific situation comprises: setting the safety distance between the unmanned underwater vehicle and the obstacle as ; Calculating in real time a distance between an unmanned underwater vehicle and an obstacle If (if) Calculating the obstacle avoidance offset : ; Wherein, the To avoid the obstacle and increase the benefit coefficient, control the intensity of the obstacle avoidance effect; in order to point to a unit vector of an obstacle, For the current position of the unmanned underwater vehicle, As the location of the obstacle(s), Is the radius of the obstacle; As a smoothing function, the smaller the value, the stronger the obstacle avoidance effect, as the unmanned underwater vehicle is closer to the obstacle.
7. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay of claim 6, wherein the obstacle avoidance formula is as follows: 。
8. The unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay of claim 7, wherein the formation transformation process comprises: When (when) ≤ ≤ When the method is carried out, the following steps are carried out: Calculating a smoothing factor : ; ; And Respectively a start time and an end time; formation location update: For the first The following one, if =1, Then: ; Is the first Final target relative positions of the individual followers; obstacle collision prevention calculation: Initializing an obstacle avoidance offset: ; judging the obstacle avoidance condition if the first The distance between each follower and the obstacle satisfies the following conditions: ; Is the first The current location of the individual follower; Then calculate the obstacle avoidance displacement : ; The calculation result is the obstacle avoidance formula; displacement to avoid obstacle Superimposed to obstacle avoidance offset Obtaining the latest obstacle avoidance offset; the latest obstacle avoidance offset and the first The current position of the individual follower Adding to obtain the first The updated positions of the followers.

Description

Unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay Technical Field The invention relates to the technical field of cooperative control of multiple intelligent systems, in particular to a formation transformation and obstacle avoidance control method for unmanned underwater vehicles with time delay, which is suitable for realizing formation maintenance, formation transformation and dynamic obstacle avoidance of the unmanned underwater vehicles in a complex marine environment. Background With the increasing demands of ocean resource development and ocean safety, the collaborative operation technology of many unmanned underwater vehicles has a wide application prospect in the fields of ocean observation, underwater archaeology, submarine pipeline detection, military reconnaissance and the like. Compared with a single launching vehicle, the multi-AUV formation system can complete a larger-range and more complex underwater operation task through a distributed sensor network and information sharing, and has higher operation efficiency and robustness. In the formation control method, a Leader-follower (Leader-Follower) strategy is a hot spot of current research due to the simple structure, strong expandability and low energy consumption. However, the following technical problems are still faced in practical application in the prior art: 1. Underwater communication mainly relies on underwater acoustic communication, which has serious time-varying delay (usually between tens of milliseconds and seconds) and is obviously affected by multipath effects and marine environmental noise. Most of the existing consistency control protocols assume that communication has no time delay or only consider fixed time delay, and are difficult to adapt to underwater complex communication environments. 2. The unmanned underwater vehicle faces uncertainty factors such as ocean current disturbance, model parameter perturbation and the like in the operation process, and the robustness of the system is difficult to ensure by the traditional control method based on the accurate model. 3. The existing formation control research often considers formation maintenance, formation transformation and obstacle avoidance control separately, and a unified framework is lacking to realize coordination of the three. Especially when rapid changes of formation are required to pass through narrow waters or avoid large obstacles, it remains a technical challenge how to achieve safe obstacle avoidance while ensuring formation stability. 4. The traditional obstacle avoidance strategy based on the artificial potential field method is easy to generate a local optimal solution, and the abrupt change of the obstacle avoidance offset can cause the severe change of the acceleration of the aircraft, so that the control precision is affected. Therefore, a cooperative control method capable of comprehensively solving delay compensation, uncertainty suppression, formation flexible transformation and smooth obstacle avoidance is needed. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides a formation transformation and obstacle avoidance control method for an unmanned underwater vehicle with time delay. In order to achieve the above purpose, the technical scheme provided by the invention is as follows: an unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay comprises the following steps: constructing an information exchange topological relation between multiple unmanned underwater vehicles based on an undirected connectivity graph, wherein the undirected connectivity graph is expressed as Wherein the node setsRepresents all unmanned underwater vehicles and edge setRepresenting communication paths, adjacency matrixRepresenting the intensity of communication between the unmanned underwater vehicles; Establishing a motion model of the multi-unmanned underwater vehicle, wherein the motion model comprises a leader kinematic model and a follower kinematic model, and the follower kinematic model is a double-integral dynamic model considering time delay and nonlinear factors; Based on a leader-follower framework, designing distributed control input to enable a follower to track a virtual target position, and realizing tracking control of multi-unmanned underwater vehicle formation; calculating an obstacle avoidance offset according to specific conditions, and applying the obstacle avoidance offset to an obstacle avoidance formula to realize the transformation of a dynamic path; The leader triggers signals to the follower in the set time, and the formation change is realized based on the preset target position. Further, the motion model of the single unmanned underwater vehicle is a six-degree-of-freedom motion model: ; Wherein, the Representing the spatial position and attitude of the unmanned underwater vehicle in a fixed c