多自主水下航行器协同作业关键技术研究

In order to eastablish a multiple autonomous underwater vehicle system(MAUVS) that is suitbe for engineering applications, this project aims to research on fundamental technical problems that multiple autonomous underwater vehicle system will face when carrying out tasks such as distributed oceanic data collection and coordinated exploration of specific area.Specifically, the following two key technical problems will be studied..Firstly, coordinated control strategy of MAUVS based on behavior-based intelligent control mechamism will be studied in detail.As conventional behvavior definition methods can not depict the complexity of decision making process when AUV coordinated with each other to execute specific tasks, a "utility function" based behavior definition method will be proposed and coordianted task execution strategy will be realized based on "behavior-based intelligent control theory". Further more,Multi-Objective Optimization based behavior coordination strategy will be proposed in order to improve the efficiency and optimality of behavior-based control strategy..Secondly,the problem of coordinated formation control of MAUVS will be studied..The inherent problem with underwater acoustic communication such as low bandwidth, high latency and high noise makes it impossible to apply existing coordinated control method suitable for air/land vehicles to MAUVS.In this project, based on consensus theory of multiagent system and theory of nonlinear systems, The problem of coordinated formation control under intermittent communication failure and latency will be studied. Distributed control law that is suitable for engineering application will be proposed and the fomation control law will be realized as a series of behaviors according to the method mentioned above..A hardware-in-loop simulation system with acoustic communication devices will be established and simulation experiment will be carried out to testify feasibilities of methods proposed.

为了建立满足工程化应用需求的多自主水下航行器系统（MAUVS），本课题拟针对其在海洋环境数据采集、区域探测等作业中应用面临的基础技术问题，开展如下两方面关键技术的研究：首先，开展基于行为的MAUVS协同作业方法研究。针对常规行为定义方法难以对AUV协作过程中的复杂决策过程进行描述的问题，开展基于"效用函数"的行为定义方法研究，解决"基于行为的智能控制理论"下AUV协调控制策略的实现问题；在此基础上，开展基于多目标值优化的行为融合策略研究，解决MAUV协同作业过程中行为决策的优化问题。其次，针对水声通讯的特点，从多智能体一致性理论和非线性系统理论出发，开展通讯缺失和时滞条件下的MAUV协调编队分布式控制方法研究，并实现编队控制方法的行为化定义。在上述研究的基础上，建立以水声通讯设备为核心的MAUV半实物仿真系统，通过试验验证方法的可行性。

随着水声技术、计算机技术、载体技术的不断进步，水下机器人逐渐成为海洋资源调查、海洋科学研究的重要工具之一。多水下机器人系统是水下机器人技术的重要发展方向之一，其作业过程中时间上的并行以及空间上的分布特性可以更好地完成一些既定的探测任务。本课题针对多水下机器人在海洋环境探测、海洋科学考察中应用所面临的协调控制策略和协同作业方式开展研究。.本课题的主要研究内容包括：.（1）开展了基于行为的多水下机器人协同作业方法研究。针对常规行为定义方法难 以对 AUV 协作过程中的复杂决策过程进行描述的问题,开展了基于“效用函数”的行为定义方法研究,主要解决“基于行为的智能控制理论”下 AUV 协调控制策略的实现问题。将基于行为的智能决策问题和水下机器人的运动控制问题统一在GNC（guidance-navigation-control）框架下进行分析，通过设计“基于指令滤波的反步控制器”，将两者有机的结合起来。针对行为融合问题, 开展基于多目标值优化的行为融合策略研究,解决 MAUV 协同作业过程中行为决策的优化问题；.（2）开展了水声通讯条件下的多水下机器人协调编队控制问题研究，针对水声通讯条件对水下机器人信息交互的限制，从多智能体一致性理论出发进行了协调编队控制策略的研究。在此基础之上，将水下机器人的协调编队策略设计为水下机器人协同作业行为，纳入到前面建立的“基于行为的多水下机器人协同作业”体系之下。.在上述研究工作基础上，课题组建立的半实物仿真系统开展了仿真试验研究，验证相关工作的可行性与有效性。