基于多水下航行器编队控制的水下目标协同搬运研究

doi:10.3901/JME.2025.24.363

摘要/Abstract

摘要： 以多障碍物环境下的水下物体搬运为应用场景，围绕多台无人水下航行器(Unmanned underwater vehicles，UUVs)协同搬运水下目标并实现定点投送过程中的编队重构与轨迹规划问题展开探索，设计多UUV协同搬运系统的编队控制和运动规划器。首先，针对多UUVs协同搬运的编队控制需求，基于刚性图论、仿射变换和反步控制理论等相关知识，设计多UUVs系统的编队控制器。该控制器的核心作用是控制多UUVs系统形成特定的编队构型，从而稳定吊起并搬运水下重物。在运输过程中，系统可根据不同的障碍物环境信息或搬运作业的具体要求，借助仿射变换重构编队的形状。基于Lyapunov函数分析编队控制闭环系统的稳定性，验证该控制方案的可靠性。其次，为了解决多障碍复杂环境下多UUVs协同运输的轨迹规划难题，基于流体扰动策略，设计一种适用于多UUVs编队的无碰撞轨迹规划算法，确保编队在复杂环境中能够安全规避障碍。最后，通过Matlab对所提算法的有效性进行验证。仿真结果表明，编队中的UUVs能够快速形成并稳定保持期望的搬运编队队形，并能沿规划的轨迹灵活机动以避开障碍物，最终实现了多台UUV对大型水下物体的协同运输目标。

关键词: 多无人水下航行器, 编队控制, 水下协同运输, 运动规划

Abstract: Aiming at the application scenario of underwater object transportation in a multi-obstacle environment, the formation reconfiguration and trajectory planning issues during the cooperative transportation and point-to-point delivery of underwater object by multiple unmanned underwater vehicles(UUVs) are explored. A formation control and motion planner for the multi-UUV cooperative transportation system is designed. Firstly, to meet the formation control requirements of multi-UUV cooperative transportation, a formation controller for the multi-UUV system is designed based on rigid graph theory, affine transformation, and backstepping control theory. The core function of this controller is to control the multi-UUV system to form a specific formation configuration, thereby steadily lifting and transporting underwater object. During transportation, the system can reconfigure the shape of the formation using affine transformation according to different obstacle environment information or specific task requirements. The stability of the closed-loop formation control system is analyzed using Lyapunov function, which verifies the reliability of the control scheme. Secondly, to address the trajectory planning challenges of multi-UUV cooperative transportation in complex multi-obstacle environments, a collision-free trajectory planning algorithm suitable for multi-UUV formations is designed based on the fluid disturbance strategy, ensuring that the formation can safely avoid obstacles in complex environments. Finally, the effectiveness of the proposed algorithm is verified using Matlab simulations. The simulation results show that the UUVs in the formation can quickly form and stably maintain the desired transportation formation, and can flexibly maneuver along the planned trajectory to avoid obstacles. Ultimately, the goal of collaborative transportation of large underwater object by multiple UUVs is achieved.

Key words: multi-unmanned underwater vehicle, formation control, underwater cooperative transportation, motion planning

中图分类号:

TP242

庞文, 朱大奇, 林姝晗, 陈铭治. 基于多水下航行器编队控制的水下目标协同搬运研究[J]. 机械工程学报, 2025, 61(24): 363-376.

PANG Wen, ZHU Daqi, LIN Shuhan, CHEN Mingzhi. Research on Cooperative Transportation of Underwater Payload Based on Cooperative Formation Control of Multiple Unmanned Underwater Vehicles[J]. Journal of Mechanical Engineering, 2025, 61(24): 363-376.

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