Research On Dynamic Formation Reconfiguration Of Multi-UUA System

This paper studies a dynamic reconfiguration method for the formation reconfiguration of multiple unmanned underwater vehicles.The Unmanned Underwater Vehicle(UUV)is an underwater unmanned operation device with strong autonomous capabilities.In the civilian field,it can be used for a variety of tasks such as marine resource exploration,submarine terrain survey,and marine search and rescue;in the military field,it can replace manned submarines for reconnaissance,search,and even attack tasks.With the development of the times and the advancement of related technologies,modern ocean exploration tasks are becoming more and more complicated.It is very difficult to rely on a single UUV to complete related underwater operations.Therefore,the research on UUV formation control has become a mainstream topic.For mulit-UUV system,it is usually required to maintain a certain formation while performing tasks,and the formation can be switched in any time according to the task requirements.Therefore,the research of mulit-UUVs system formation reconfiguration is especially important to the formation control.This paper proposes a UUV relative path tracking method based on the leader-follower formation retention method for the formation reconfiguration of mulit-UUV system during the movement process.This method combines the leader-follower method and path commonly used in the UUVs formation-keeping method and the line-of-sight guidance method commonly used in tracking has realized the follower UUV’s tracking control of the relative path in the motion coordinate system with the leader as the reference object.Aiming at the problem that UUVs may collide with each other during the reconstruction process of formation reconfiguration,this paper designs a dynamic path planning method based on artificial potential field method to carry out online path planning for each follower UUV in the formation,avoiding UUVs collide with each other.Aimed at the problem of the local optimal solution which is easy to appear in the artificial potential field method,a path optimization method based on simulate anneal method is proposed.When the follower UUV falls into the local optimal solution area,the algorithm calculates a transition path point to guide the UUV escape the local optimal solution area,and finally reach the desired position.In the end,this paper fuses the above methods and proposes a judgment strategy to identify whether the follower UUV falls into the local optimal solution area.Finally,the method design of UUVs dynamic formation reconfiguration is completed.This paper uses MATLAB software to verify the control method designed in the paper.First,based on the UUV’s motion characteristics,consult the literature to create a UUV mathematical model and verify the correctness of the model to ensure that the model can fully describe the UUV’s motion.Then,the UUV relative path tracking,artificial potential field method path planning and simulated annealing method of path optimization algorithm designed in the paper are simulated to verify the effectiveness of the algorithm.Finally,the simulation experiment of the dynamic formation reconstruction process of UUV formation,Verified the feasibility of the design method.After simulation experiments,the results show that the method designed in this paper can realize real-time path planning while maintaining a safe distance between UUVs,and follow the planned path,and finally complete the dynamic formation reconfiguration of mulit-UUV system.This method is easy to implement and has great practical value in engineering projects.