基于边界锁事件触发机制的多USV系统的自适应式集群控制
1College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150001, China.
ISA transactions
|December 18, 2025
概括
这项研究引入了无人驾驶表面车辆群 (USVS) 的自适应集群控制法,以改善协调. 这种新的方法增强了群体的凝聚力,减少了通信负载,并提高了对干扰的强度.
科学领域:
- 海洋机器人 海洋机器人
- 控制系统工程 控制系统工程
- 人工智能的人工智能是人工智能.
背景情况:
- 无人驾驶水面车辆群 (USVS) 对于海上作战至关重要,但也面临协调方面的挑战.
- 涌入的凝聚力,沟通和不确定性阻碍了有效的USVS部署.
- 现有的控制策略与动态的海洋环境和通信限制作斗争.
研究的目的:
- 为USVS开发基于事件的自适应集群控制法.
- 加强群体凝聚力,确保网络连接.
- 减少通讯开销,提高系统对抗不确定性的稳定性.
主要方法:
- 为群体凝聚力和连接性设计了一个集成的双模式潜在功能 (APF和DCPF).
- 与MIET和MTIT实现了边界锁定事件触发 (BLET) 机制,以最大限度地减少通信.
- 整合了一个基于强化学习的回声状态网络 (RLESN),用于自适应控制和干扰拒绝.
主要成果:
- 拟议的控制法有效地增强了群体凝聚力,并保持了连接性.
- BLET机制显著降低了通信负载,同时确保了系统的稳定性.
- RLESN成功地弥补了未建模的动态和外部干扰,提高了稳定性.
结论:
- 开发的基于事件的自适应集群控制法为USVS协调提供了强大而高效的解决方案.
- 综合方法解决了群体凝聚力,沟通和不确定性管理方面的关键挑战.
- 模拟结果验证了拟议方法论对现有方法的优越性.
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