Multiple UUV/USV Path Planning And Formation Control

Unmanned and intelligent weapons and equipment have become an important direction of the development of weapons and equipment.As an important surface/underwater Unmanned equipment,the research of unmanned underwater vehicle(UUV)and unmanned surface vehicle(USV)and their cooperative control have become more and more thorough.In UUV/USV and other robot related technologies,path planning and formation control have always been the focus of research.In this thesis,multi-UUV/USV path planning and formation control are studied for multi-UUV/USV system cooperative operation in the specified sea area,including the following aspects:Firstly,according to the military requirements of multi-UUV/USV cooperative operation,the system architecture of multi-UUV /USV cooperative operation is introduced.The marine environment elements in the search process are modeled,and the UUV/USV dynamic model and kinematics model are established.The simulation results verify the rationality and feasibility of the model.Secondly,the global path planning problem based on prior information is described and modeled,and a global path planning strategy based on sub region is proposed.The performance index is put forward to evaluate the quality of the planned path,and the walking mode in the region is determined according to the performance index.In order to reduce the path repetition rate,the Boustrophedon decomposition method was used to decompose the search area,and the connectivity problem of the decomposed search sub-area was transformed into a TSP problem,which is solved by A* algorithm.Then,for the local path planning problem based on sonar detection,a fusion algorithm of rolling window method and improved artificial potential field method is proposed.The rolling window method is used to model the environment within the limited detection range of UUV,and the artificial potential field method is used in each window for real-time and online path planning.Aiming at the defect of local minimum of traditional artificial potential field method,this thesis proposes an improved method of virtual target point,which makes UUV get rid of the local minimum and realize the complete path planning of reachable target.Collision avoidance between multiple UUVs is realized by setting priority and changing rate.Finally,the formation control algorithm of multi UUV / USV is designed.For the leader,the line of sight method is used to establish the tracking error between the actual position and the planned path,and the s-plane controller is used to stabilize the error.On this basis,the formation algorithm of leader follower method is designed,and the sliding mode controller is designed to stabilize the formation position,so that the position and speed of the follower can converge to the expected value.The simulation results verify the effectiveness of the algorithm.Finally,the functional module of multi UUV / USV cooperative mine detection control system software is designed,and the correctness and availability of the designed path planning and formation control algorithm are verified by a case.