针对水下复杂环境中UUV编队避障问题，提出一种基于模糊控制的UUV编队避障控制方法。在单UUV避障的基础上，根据雁群编队行为和避障机制，设计基于模糊控制的编队拆分避障算法，考虑不同通信条件进行仿真，结果表明所提方法能够有效解决UUV编队在障碍物环境下队形控制及避障问题。考虑到工程实际，针对通信延迟进行了处理，并通过仿真验证处理方法的有效性。最后以典型狭长极窄障碍物环境进行了湖上试验。
Aiming at the problem of UUV formation obstacle-avoidance in the complex underwater environment, this paper proposes an UUV formation obstacle-avoidance control method based on fuzzy control. Inspired by the herds’ behavior mechanism, the V-shaped formation design is adopted, the leader-follower method is selected to carry out formation control and according to the obstacle-avoidance mechanism of the herd, designing the formation split obstacle-avoidance algorithm based on fuzzy control. Simulation by considering different communication conditions, the results show that the proposed method can effectively solve the formation control and obstacle-avoidance problems of UUV formation under obstacle environment. Finally, the lake experiment was carried out in a typical narrow, long and very narrow obstacle environment.
2022,44(7): 98-103 收稿日期：2021-11-30
DOI：10.3404/j.issn.1672-7649.2022.07.019
分类号：TJ630;TJ67
作者简介：杨芳(1995-),女,助理工程师,研究方向为水下无人航行器集群协同控制与任务分配
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