[1]袁健,周忠海,金光虎,等.基于卡尔曼滤波的自主式水下航行器大尺度编队控制[J].智能系统学报,2013,8(4):344-348.[doi:10.3969/j.issn.1673-4785.201304033]
　YUAN Jian,ZHOU Zhonghai,JIN Guanghu,et al.Large-scale formation control for autonomous underwater vehicles based on Kalman filtering[J].CAAI Transactions on Intelligent Systems,2013,8(4):344-348.[doi:10.3969/j.issn.1673-4785.201304033]
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基于卡尔曼滤波的自主式水下航行器大尺度编队控制

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 8 期数: 2013年第4期 页码: 344-348 栏目: 学术论文—智能系统 出版日期: 2013-08-25
Title:
Large-scale formation control for autonomous underwater vehicles based on Kalman filtering
文章编号:
1673-4785(2013)04-0344-05
作者:
袁健1,2，周忠海1,2，金光虎1,2，徐娟1,2，李俊晓1,2
1. 山东省海洋环境监测技术重点实验室，山东 青岛 266001; 2. 山东省科学院 海洋仪器仪表研究所，山东 青岛 266001
Author(s):
YUAN Jian1,2, ZHOU Zhonghai1,2, JIN Guanghu1,2, XU Juan1,2, LI Junxiao1,2
1. Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology, Qingdao 266001, China; 2. Institute of Oceanographic Instrumentation of Shandong Academy of Sciences, Qingdao 266001, China
关键词:
自主式水下航行器; 卡尔曼滤波; 一致性; 大尺度编队控制
Keywords:
autonomous underwater vehicle;  Kalman filtering;  consensus;  large-scale formation control
分类号:
TP273
DOI:
10.3969/j.issn.1673-4785.201304033
文献标志码:
A
摘要:
针对网络环境下环境噪声对自主式水下航行器编队控制的影响，提出一种利用卡尔曼滤波实时估计AUV最优运动状态的编队控制方法.将空间间隔较远的多AUV系统建模为多智能体系统，从大尺度上研究其编队控制问题.为了得到每个AUV速度状态的最优估计值，每个AUV都嵌入一个全局卡尔曼滤波器，利用该全局滤波器进行最优估计从而计算出噪声环境下其自身的最优位置.仿真结果验证了所给出的控制策略的有效性.
Abstract:
Aiming at investigating the influence of environmental noise on autonomous underwater vehicles(AUV) formation control, a formation control for estimating AUV optimal motion states in real time is proposed. We modeled multiple AUVs with larger interval in space as a multi-agent system in order to investigate the large-scale formation control. Each AUV is embedded with one global Kalman filter to obtain the optimal estimation of each AUV speed states. And thus the optimal position of AUV in a noisy environment can be calculated by the optimal estimation with the global filter. Finally, some simulations were demonstrated to show the effectiveness of the proposed formation control scheme.
参考文献/References:
［1］FIORELLI E . Multi-AUV control and adaptive sampling in Monterey Bay［J］. IEEE Journal of Oceanic Engineering, 2006, 31(4): 935-948.
［2］YU S C, URA T. A system of multi-AUV interlinked with a smart cable for autonomous inspection of underwater structures［J］. International Journal of Offshore and Polar Engineering, 2004, 14(4): 264-272.
［3］DEREK P, ZHANG F M, LEONARD N E. Cooperative control for ocean sampling: the glider coordinated control system［J］. IEEE Transactions on Control Systems Technology, 2008, 16(4): 735-744.
［4］XIANG X B. Coordinated control for multiAUV systems based on hybrid automata［C］// IEEE International Conference on Robotics and Biomimetics. ［S.l.］，2007: 2121-2126.
［5］DO K D. Formation tracking control of unicycle-type mobile robots with limited sensing ranges［J］. IEEE Transactions on Control Systems Technology, 2008, 16(3): 527-538.
［6］YANG E F, GU D B. Nonlinear formationkeeping and mooring control of multiple autonomous underwater vehicles［J］. IEEE/ASME Transactions on Mechatronics, 2007, 2(2): 164-178.
［7］JADBABAIE A, LIN J, MORSE A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules［J］. IEEE Transactions on Automatic Control, 2003, 48(6): 988-1001.
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　LI Ye,CHANG Wen-tian,WAN Lei,et al.Research on underwater vehicle adaptive Kalman filter[J].CAAI Transactions on Intelligent Systems,2006,1():44.
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备注/Memo

收稿日期：2013-04-15.     网络出版日期：2013-06-21. 
基金项目：国家自然科学基金资助项目(61074092)；山东省自然科学基金资助项目(ZR2012FL18)；山东省科学院博士基金项目(201244)；青岛科技发展计划项目（13-+1-4-172-jch）；国际科技合作资助项目(2011DFR60810).
通信作者：袁健. E-mail：jyuanjian801209@163.com.
作者简介：
袁健，男，1980年生，副研究员，博士，主要研究方向为自主水下航行器的编队控制.参与国家自然科学基金、国际科技合作项目、山东省自然科学基金等项目多项.发表学术论文20余篇.
周忠海，男，1975年生，研究员，博士，主要研究方向为海洋环境监测技术.先后承担了国家“863”计划、国际科技合作项目、海洋公益性项目和青岛市对外合作项目.现主持国家科技部国际科技合作项目1项.发表学术论文50余篇.
金光虎，男，1979年生，副研究员，博士，主要研究方向为海洋传感技术.参与多项国际科技合作项目.发表学术论文20余篇，获得专利10余项.

更新日期/Last Update: 2013-09-25
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