留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

多自主式水下机器人的路径规划和控制技术研究综述

赵蕊 许建 向先波 徐国华

赵蕊, 许建, 向先波, 徐国华. 多自主式水下机器人的路径规划和控制技术研究综述[J]. 中国舰船研究, 2018, 13(6): 58-65. doi: 10.19693/j.issn.1673-3185.01028
引用本文: 赵蕊, 许建, 向先波, 徐国华. 多自主式水下机器人的路径规划和控制技术研究综述[J]. 中国舰船研究, 2018, 13(6): 58-65. doi: 10.19693/j.issn.1673-3185.01028
Rui ZHAO, Jian XU, Xianbo XIANG, Guohua XU. A review of path planning and cooperative control for MAUV systems[J]. Chinese Journal of Ship Research, 2018, 13(6): 58-65. doi: 10.19693/j.issn.1673-3185.01028
Citation: Rui ZHAO, Jian XU, Xianbo XIANG, Guohua XU. A review of path planning and cooperative control for MAUV systems[J]. Chinese Journal of Ship Research, 2018, 13(6): 58-65. doi: 10.19693/j.issn.1673-3185.01028

多自主式水下机器人的路径规划和控制技术研究综述

doi: 10.19693/j.issn.1673-3185.01028
基金项目: 

国家自然科学基金资助项目 51579111

海洋工程国家重点实验室研究基金资助项目 201504

详细信息
    作者简介:

    许建, 男, 1963年生, 博士, 研究员, 博士生导师

    向先波, 男, 1978年生, 博士, 副教授, 博士生导师。研究方向:海洋航行器控制技术。E-mail:xbxiang@hust.edu.cn

    通信作者:

    赵蕊(通信作者), 女, 1981年生, 硕士, 高级工程师

  • 中图分类号: U674.941

A review of path planning and cooperative control for MAUV systems

知识共享许可协议
多自主式水下机器人的路径规划和控制技术研究综述赵蕊,等创作,采用知识共享署名4.0国际许可协议进行许可。
  • 摘要: 自主式水下机器人(AUV)是海洋资源勘探和开发的重要工具,在民用和军用领域都发挥着重要作用。随着AUV技术的逐步成熟,通过构建多自主式水下机器人(MAUV)系统,令多个AUV协作完成水下作业任务已成为当前的发展趋势。MAUV系统对提高水下机器人的智能化水平及发展海洋化装备具有重要的理论研究意义和实用价值。介绍目前MAUV系统的应用现状和科研进展,并对MAUV协同路径规划和集群协同控制技术等研究热点进行系统化梳理,着重分析人工智能优化和编队协同的关键技术。最后,对MAUV系统未来的发展方向进行展望。
  • [1] 徐玉如, 苏玉民, 庞永杰.海洋空间智能无人运载器技术发展展望[J].中国舰船研究, 2006, 1(3):1-4. doi: 10.3969/j.issn.1673-3185.2006.03.001

    XU Y R, SU Y M, PANG Y J. Expectation of the development in the technology on ocean space intelligent unmanned vehicles[J]. Chinese Journal of Ship Research, 2006, 1(3):1-4(in Chinese). doi: 10.3969/j.issn.1673-3185.2006.03.001
    [2] SIMPKINS C A. Introduction to autonomous manipulation:case study with an underwater robot, SAUVIM[J]. IEEE Robotics and Automation Magazine, 2014, 21(4):109-110. doi: 10.1109/MRA.2014.2379031
    [3] 向先波.二阶非完整性水下机器人的路径跟踪与协调控制研究[D].武汉: 华中科技大学, 2010. http://www.wanfangdata.com.cn/details/detail.do?_type=degree&id=D153157

    XIANG X B. Research on path following and coordinated control for second-order nonholonomic AUVs[D]. Wuhan: Huazhong University of Science and Technology, 2010(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=degree&id=D153157
    [4] DIERCKS A R, WOOLSEY M, JARNAGIN R, et al. Site reconnaissance surveys for oil spill research using deep-sea AUVs[C]//Proceedings of 2013 Oceans-San Diego. San Diego, CA: IEEE, 2013: 1-5.
    [5] WERNLI R L. AUV commercialization-who's leading the pack[C]//Proceedings of Oceans 2000 MTS/IEEE Conference and Exhibition. Providence, Rhode Island: IEEE, 2000: 391-395.
    [6] KENNEDY J, EBERHART R. Particle swarm optimization[C]//Proceedings of IEEE International Conference on Neural Networks. Perth, Australia: IEEE, 1995: 1942-1948.
    [7] EBERHART R, KENNEDY J. A new optimizer using particle swarm theory[C]//Proceedings of the 6th International Symposium on Micro Machine and Human Science. Nagoya, Japan: IEEE, 1995: 39-43.
    [8] XIANG X B, JOUVENCEL B, PARODI O. Coordinated formation control of multiple autonomous underwater vehicles for pipeline inspection[J]. International Journal of Advanced Robotic Systems, 2010, 7(1):75-84. http://d.old.wanfangdata.com.cn/OAPaper/oai_doaj-articles_ed635c69a4fa58f4eba69ff52f4c83ba
    [9] OSTAFICHUK P M. AUV hydrodynamics and modelling for improved control[D]. Canada: The University of British Columbia, 2004.
    [10] ANTONELLI G. Underwater robots[M]. 3rd ed. Berlin:Springer, 2013.
    [11] HEALEY A J. Application of formation control for multi-vehicle robotic minesweeping[C]//Proceedings of the 40th IEEE Conference on Decision and Control. Orlando, USA: IEEE, 2001: 1497-1502.
    [12] ZHAO R, XIANG X B, YU C Y, et al. Coordinated formation control of autonomous underwater vehicles based on leader-follower strategy[C]//Proceedings of Oceans 2016 MTS/IEEE Monterey. Monterey, USA: IEEE, 2016: 1-5.
    [13] 姜大鹏.多水下机器人协调控制技术研究[D].哈尔滨: 哈尔滨工程大学, 2011.

    JIANG D P. Research on coordinated control technology for multiple autonomous underwater vehicles[D]. Harbin: Harbin Engineering University, 2011(in Chinese).
    [14] KOO T J, LI R Q, QUOTTRUP M M, et al. A framework for multi-robot motion planning from temporal logic specifications[J]. Science China Information Sciences, 2012, 55(7):1675-1692. doi: 10.1007/s11432-012-4605-8
    [15] WOITHE H C, KREMER U. Trilobite G:a programming architecture for autonomous underwater vehicles[J]. ACM SIGPLAN Notices, 2015, 50(5):14. doi: 10.1145/2670529.2754971
    [16] CUI R X, YAN W S, XU D M. Synchronization of multiple autonomous underwater vehicles without velocity measurements[J]. Science China Information Sciences, 2012, 55(7):1693-1703. doi: 10.1007/s11432-012-4579-6
    [17] PAULL L, SAEEDI S, SETO M, et al. AUV navigation and localization:a review[J]. IEEE Journal of Oceanic Engineering, 2014, 39(1):131-149. doi: 10.1109/JOE.2013.2278891
    [18] MATSUDA T, MAKI T, SAKAMAKI T, et al. Performance analysis on a navigation method of multiple AUVs for wide area survey[J]. Marine Technology Society Journal, 2012, 46(2):45-55. doi: 10.4031/MTSJ.46.2.6
    [19] GKIKOPOULI A, NIKOLAKOPOULOS G, MANESIS S. A survey on underwater wireless sensor networks and applications[C]//Proceedings of the 20th Mediterranean Conference on Control and Automation. Barcelona, Spain: IEEE, 2012: 1147-1154.
    [20] AKYILDIZ I F, WANG P, LIN S C. Softwater:software-defined networking for next-generation underwater communication systems[J]. Ad Hoc Networks, 2016, 46:1-11. doi: 10.1016/j.adhoc.2016.02.016
    [21] YOON S, AZAD A K, OH H, et al. AURP:an AUV-aided underwater routing protocol for underwater acoustic sensor networks[J]. Sensors, 2012, 12(2):1827-1845. doi: 10.3390/s120201827
    [22] SUN Y, ZHANG R. Research on global path planning for AUV based on GA[M]//ZHAGN T B. Mechanical Engineering and Technology. Berlin: Springer, 2012: 311-318.
    [23] 王刚.基于极限学习机的AUV路径规划的研究[D].青岛: 中国海洋大学, 2013.

    WANG G. The research of path planning based on ELM for AUV[D]. Qingdao: Ocean University of China, 2013(in Chinese).
    [24] HUANG H, ZHU D Q, DING F. Dynamic task assignment and path planning for multi-AUV system in variable ocean current environment[J]. Journal of Intelligent and Robotic Systems, 2014, 74(3/4):999-1012. http://cpfd.cnki.com.cn/Article/CPFDTOTAL-KZJC201205001722.htm
    [25] ZHU D Q, HUANG H, YANG S X. Dynamic task assignment and path planning of multi-AUV system based on an improved self-organizing map and velocity synthesis method in three-dimensional underwater workspace[J]. IEEE Transactions on Cybernetics, 2013, 43(2):504-514. doi: 10.1109/TSMCB.2012.2210212
    [26] MANINGO J M Z, FAELDEN G E U, NAKANO R C S, et al. Obstacle avoidance for quadrotor swarm using artificial neural network self-organizing map[C]//Proceedings of 2015 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management. Cebu City, Philippines: IEEE, 2015: 1-7.
    [27] SUTANTYO D, LEVI P, MÖSLINGER C, et al. Collective-adaptive Lévy flight for underwater multi-robot exploration[C]//Proceedings of 2013 IEEE International Conference on Mechatronics and Automation. Takamatsu, Japan: IEEE, 2013: 456-462.
    [28] HUANG Q, ZHENG G L. Route optimization for autonomous container truck based on rolling window[J]. International Journal of Advanced Robotic Systems, 2016, 13(3):112. doi: 10.5772/64116
    [29] LIU J H, YANG J G, LIU H P, et al. An improved ant colony algorithm for robot path planning[J]. Soft Computing, 2016, 1(11):1-11. DOI: 10.1007/s00500-016-2161-7.
    [30] 徐勇.多平台协同搜索水雷效能分析[J].指挥控制与仿真, 2013, 35(3):81-83. doi: 10.3969/j.issn.1673-3819.2013.03.021

    XU Y. The effectiveness analysis of multiple-platform cooperative mine searching[J]. Command Control and Simulation, 2013, 35(3):81-83(in Chinese). doi: 10.3969/j.issn.1673-3819.2013.03.021
    [31] FAVARO F, BROLO L, TOSO G, et al. A study on remote data retrieval strategies in underwater acoustic networks[C]//Proceedings of Oceans 2013-San Diego. San Diego, CA: IEEE, 2013: 1-8.
    [32] KARTHIK S. Underwater vehicle for surveillance with navigation and swarm network communication[J]. Indian Journal of Science and Technology, 2014, 7(6):22-31. http://cn.bing.com/academic/profile?id=7183b9499e8942b59e0d670e0ee101ab&encoded=0&v=paper_preview&mkt=zh-cn
    [33] CAO X, ZHU D Q. Multi-AUV underwater cooperative search algorithm based on biological inspired neurodynamics model and velocity synthesis[J]. The Journal of Navigation, 2015, 68(6):1075-1087. doi: 10.1017/S0373463315000351
    [34] YING L L, HE B, ZHANG S J, et al. A modified fast SLAM with simple particle swarm optimization and consistent mapping for AUVs[C]//Proceedings of Oceans 2014-Taipei. Taipei, China: IEEE, 2014: 1-5.
    [35] 李爱国, 覃征, 鲍复民, 等.粒子群优化算法[J].计算机工程与应用, 2002, 38(21):1-3, 17. doi: 10.3321/j.issn:1002-8331.2002.21.001

    LI A G, QIN Z, BAO F M, et al. Particle swarm optimization algorithms[J]. Computer Engineering and Applications, 2002, 38(21):1-3, 17(in Chinese). doi: 10.3321/j.issn:1002-8331.2002.21.001
    [36] ZENG Z, LAMMAS A, SAMMUT K, et al. Path planning for rendezvous of multiple AUVs operating in a variable ocean[C]//Proceedings of the 4th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Hong Kong, China: IEEE, 2014: 451-456.
    [37] 朱亦峰.多AUV协同作业中的互定位方法研究[D].哈尔滨: 哈尔滨工程大学, 2009.

    ZHU Y F. Research of intercommunication method of multi-AUV cooperation[D]. Harbin: Harbin Engineering University, 2009(in Chinese).
    [38] CONSOLINI L, MORBIDI F, PRATTICHIZZO D, et al. Leader-follower formation control of nonholonomic mobile robots with input constraints[J]. Automatica, 2008, 44(5):1343-1349. doi: 10.1016/j.automatica.2007.09.019
    [39] 彭周华.舰船编队的鲁棒自适应控制[D].大连: 大连海事大学, 2011.

    PENG Z H. Robust adaptive control for formations of marine surface vessels[D]. Dalian: Dalian Maritime University, 2011(in Chinese).
    [40] CAO Z Q, XIE L J, ZHANG B, et al. Formation constrained multi-robot system in unknown environments[C]//Proceedings of 2003 IEEE International Conference on Robotics and Automation. Taipei, China: IEEE, 2013: 735-740.
    [41] LIANG Y, LEE H H. Decentralized formation control and obstacle avoidance for multiple robots with nonholonomic constraints[C]//Proceedings of 2006 American Control Conference. Minneapolis, USA: IEEE, 2006: 6.
    [42] LEONARD N E, FIORELLI E. Virtual leaders, artificial potentials and coordinated control of groups[C]//Proceedings of the 40th IEEE Conference on Decision and Control. Orlando, USA: IEEE, 2011: 2968-2973.
    [43] ROUT R, SUBUDHI B. A backstepping approach for the formation control of multiple autonomous underwater vehicles using a leader-follower strategy[J]. Journal of Marine Engineering and Technology, 2016, 15(1):38-46. doi: 10.1080/20464177.2016.1173268
    [44] 石桂芬, 方华京.基于相邻矩阵的多机器人编队容错控制[J].华中科技大学学报(自然科学版), 2005, 33(3):39-42. doi: 10.3321/j.issn:1671-4512.2005.03.013

    SHI G F, FANG H J. Fault tolerance of multi-robot formation based on adjacency matrix[J]. Journal of Huazhong University of Science and Technology(Nature Science Edition), 2005, 33(3):39-42. doi: 10.3321/j.issn:1671-4512.2005.03.013
    [45] WADA M, SHIMONO T. Formation control of multiple mobile robots based on the modal decomposition by discrete Fourier series expansion[C]//Proceedings of the 7th International Conference on Information and Automation for Sustainability. Colombo, Sri Lanka: IEEE, 2014: 1-6.
    [46] CHEN X P, SERRANI A, OZBAY H. Control of leader-follower formations of terrestrial UAVs[C]//Proceedings of the 42nd IEEE International Conference on Decision and Control. Hawaii, USA: IEEE, 2013: 498-503.
    [47] DESAI J P, OSTROWSKI J P, KUMAR V. Modeling and control of formations of nonholonomic mobile robots[J]. IEEE Transactions on Robotics and Automation, 2011, 17(6):905-908. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=4487a9a334c2adaf9fc669b37e266bf7
    [48] ZHANG Y M, MEHRJERDI H. A survey on multiple unmanned vehicles formation control and coordination: normal and fault situations[C]//Proceedings of 2013 International Conference on Unmanned Aircraft Systems. Atlanta, USA: IEEE, 2013: 1087-1096.
    [49] OH K K, PARK M C, AHN H S. A survey of multi-agent formation control[J]. Automatica, 2015, 53:424-440. doi: 10.1016/j.automatica.2014.10.022
    [50] OU M Y, DU H B, LI S H. Finite-time formation control of multiple nonholonomic mobile robots[J]. International Journal of Robust and Nonlinear Control, 2014, 24(1):140-165. doi: 10.1002/rnc.v24.1
    [51] ISMAIL Z H, SARMAN N, DUNNIGAN M W. Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles[C]//Proceedings of Oceans 2012-Yeosu. Yeosu, South Korea: IEEE, 2012: 1-6.
    [52] VASARHELYI G, VIRAGH C, SOMORJAI G, et al. Outdoor flocking and formation flight with autonomous aerial robots[C]//Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago, USA: IEEE, 2014: 3866-3873.
    [53] 彭学伦.水下机器人的研究现状与发展趋势[J].机器人技术与应用, 2004, 15(4):43-47. doi: 10.3969/j.issn.1004-6437.2004.04.008

    PENG X L. Research status and development of underwater robot[J]Robot Technique and Application, 2004, 15(4):43-47(in Chinese). doi: 10.3969/j.issn.1004-6437.2004.04.008
    [54] PETRES C, PAILHAS Y, PATRON P, et al. Path planning for autonomous underwater vehicles[J]. IEEE Transactions on Robotics, 2007, 23(2):331-341. doi: 10.1109/TRO.2007.895057
    [55] 杨燕.水下航行器编队运动规划与稳定性研究[D].天津: 天津大学, 2012.

    YANG Y. Motion planning and stabilization of multi-vehicle formation[D]. Tianjin: Tianjin University, 2012(in Chinese).
    [56] ZHAO J B, ZOU Q, LI L, et al. Tool path planning based on conformal parameterization for meshes[J]. Chinese Journal of Aeronautics, 2015, 28(5):1555-1563. doi: 10.1016/j.cja.2015.06.005
    [57] 陈世明, 化俞新, 祝振敏, 等.邻域交互结构优化的多智能体快速蜂拥控制算法[J].自动化学报, 2015, 41(12):2092-2099. http://www.cqvip.com/QK/90250X/201512/667163359.html

    CHEN S M, HUA Y X, ZHU Z M, et al. Fast flocking algorithm for multi-agent systems by optimizing local interactive topology[J]. Acta Automatica Sinica, 2015, 41(12):2092-2099(in Chinese). http://www.cqvip.com/QK/90250X/201512/667163359.html
    [58] 赵丹, 胡爱花, 刘丹.牵引控制间歇通讯多智能体网络的一致性[J].信息与控制, 2017, 46(2):238-242. http://d.old.wanfangdata.com.cn/Periodical/xxykz201702018

    ZHAO D, HU A H, LIU D. Consensus of multiagent networks with intermittent communication via pinning control[J]Information and Control, 2017, 46(2):238-242(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xxykz201702018
    [59] PENG Z H, WANG D, SHI Y, et al. Containment control of networked autonomous underwater vehicles with model uncertainty and ocean disturbances guided by multiple leaders[J]. Information Sciences, 2015, 316:163-179. doi: 10.1016/j.ins.2015.04.025
    [60] PENG Z H, WANG J, WANG D. Distributed containment maneuvering of multiple marine vessels via neurodynamics-based output feedback[J]. IEEE Transactions on Industrial Electronics, 2017, 64(5):3831-3839. doi: 10.1109/TIE.2017.2652346
    [61] PENG Z H, WANG J, WANG D. Containment maneuvering of marine surface vehicles with multiple parameterized paths via spatial-temporal decoupling[J]. IEEE/ASME Transactions on Mechatronics, 2017, 22(2):1026-1036. doi: 10.1109/TMECH.2016.2632304
    [62] 陈杨杨, 田玉平.多智能体沿多条给定路径编队运动的有向协同控制[J].自动化学报, 2009, 35(12):1541-1549. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=CAS201303040000409136

    CHEN Y Y, TIAN Y P. Directed coordinated control for multi-agent formation motion on a set of given curves[J]. Acta Automatica Sinica, 2009, 35(12):1541-1549. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=CAS201303040000409136
    [63] 戴国忠, 王怀龙.时延约束下多智能体编队的集结控制[J].舰船电子工程, 2017, 37(5):25-27, 108. doi: 10.3969/j.issn.1672-9730.2017.05.007

    DAI G Z, WANG H L. Rendezvous control for the multi-agent formation with time delay[J]Ship Electronic Engineering, 2017, 37(5):25-27, 108(in Chinese). doi: 10.3969/j.issn.1672-9730.2017.05.007
    [64] BRADY M. Artificial intelligence and robotics[J]. Artificial Intelligence, 1985, 26(1):79-121. doi: 10.1016/0004-3702(85)90013-X
    [65] FERBER J. Multi-agent systems:an introduction to distributed artificial intelligence[M]. Boston, USA:Addison-Wesley, 1999.
    [66] QARABAQI P, STOJANOVIC M. Statistical characterization and computationally efficient modeling of a class of underwater acoustic communication channels[J]. IEEE Journal of Oceanic Engineering, 2013, 38(4):701-717. doi: 10.1109/JOE.2013.2278787
    [67] LI S H, WANG X Y. Finite-time consensus and collision avoidance control algorithms for multiple AUVs[J]. Automatica, 2013, 49(11):3359-3367. doi: 10.1016/j.automatica.2013.08.003
  • 2018-6-58_en.pdf
  • 加载中
计量
  • 文章访问数:  377
  • HTML全文浏览量:  32
  • PDF下载量:  133
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-06-19
  • 网络出版日期:  2018-05-18
  • 刊出日期:  2018-12-03

目录

    /

    返回文章
    返回