基于控制障碍函数和共识理论的异质AUV的合作覆盖控制
Fengxiang Mao1, Dongsong Zhang1, Liang Xu1
1School of Big Data and Artificial Intelligence, Xinyang College, Xinyang 464000, China.
Sensors (Basel, Switzerland)
|February 13, 2026
概括
本研究提出了一种新型控制框架,用于异构的自动水下车辆 (AUV) 群,以实现最佳覆盖,同时确保安全. 该方法将控制屏障功能与共识理论相结合,用于在复杂环境中实现可靠的导航和任务完成.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 多代理系统 多代理系统
- 自主导航自主导航自主导航自主导航自主导航自主导航
背景情况:
- 合作覆盖控制对于复杂环境中的自主水下车辆 (AUV) 群体至关重要.
- 在AUV能力和传感范围的异质性带来了重大挑战.
- 除了覆盖,确保避免碰撞和动态约束也是一个关键问题.
研究的目的:
- 开发一个对异质AUV群体的等级控制框架.
- 为了实现最佳的区域覆盖,同时保证避免碰撞,并尊重AUV动态.
- 提高合作水下任务的稳定性和效率.
主要方法:
- 一个修改的Voronoi分区用于合作覆盖模型.
- 对于工作负载平衡和自我组织覆盖的共识理论.
- 控制屏障功能 (CBF),包括零化CBF (ZCBF) 和高级CBF (HOCBF),用于安全保证.
- 方位编程 (QP) 是将覆盖控制与安全限制整合在一起的.
主要成果:
- 拟议的框架确保了安全集的稳定性和前性.
- 证明了合作社覆盖任务的趋同.
- 成功统一了AUV的避免碰撞和速度限制.
- 在具有障碍的复杂环境中验证了有效性和稳定性.
结论:
- 层次控制框架有效地管理异构的AUV群,以获得最佳的覆盖和安全.
- 结合CBF和共识理论,为复杂的水下任务提供了强大的解决方案.
- 该方法为自动驾驶系统提供了侵入性最小的安全关键层.
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