[1]夏桂华,朱文序,刘浩岩,等.无人艇集群自组织协同围捕控制算法研究[J].智能系统学报,2025,20(1):162-171.[doi:10.11992/tis.202405025]
XIA Guihua,ZHU Wenxu,LIU Haoyan,et al.Research on collaborative self-organizing surrounding control algorithm of USV swarm[J].CAAI Transactions on Intelligent Systems,2025,20(1):162-171.[doi:10.11992/tis.202405025]
点击复制
XIA Guihua,ZHU Wenxu,LIU Haoyan,et al.Research on collaborative self-organizing surrounding control algorithm of USV swarm[J].CAAI Transactions on Intelligent Systems,2025,20(1):162-171.[doi:10.11992/tis.202405025]
无人艇集群自组织协同围捕控制算法研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
20
期数:
2025年第1期
页码:
162-171
栏目:
学术论文—智能系统
出版日期:
2025-01-05
- Title:
- Research on collaborative self-organizing surrounding control algorithm of USV swarm
- Keywords:
- unmanned surface vessel; swarm control; cooperative surrounding; multi-agent system; model predictive control; input-to-state stability; state observer; graph theory
- 分类号:
- TP242
- 摘要:
- 无人艇（unmanned surface vessel, USV）集群协同围捕是无人艇的重要应用场景之一，文章针对无人艇集群协同围捕任务设计了一种自组织控制算法。考虑到被围对象的加速度未知且仅部分集群成员可对其测量的情况，文章设计了分布式目标状态观测器（distributed target state observer, DTSO），实现围捕过程中各成员对被捕对象状态的一致性观测。设计了一种自组织围捕引导律，解决了围捕算法需要为成员预分配期望位置的问题。设计了分布式非线性模型预测控制（distributed nonlinear model predictive control, DNMPC），解决了执行器饱和与艇间距离约束的问题，实现了满足避碰安全的协同围捕控制。文章分析了控制系统的输入–状态稳定性（input-to-state stability, ISS），并通过多组不同初始状态和改变成员数量的仿真实验，验证了围捕算法的有效性。
- Abstract:
- Unmanned surface vehicle (USV) swarm cooperative surrounding is one of the important application scenarios of USVs. This paper designs a self-organizing control algorithm for USV swarm cooperative surrounding tasks. Considering the unknown acceleration of the target to be encircled and the fact that only some members of the swarm can measure its position and velocity, this paper proposes a distributed target state observer (DTSO) to achieve consistency observation of the target state among swarm members during the surrounding process. Subsequently, a self-organizing surrounding guidance law is designed to address the issue of pre-allocating expected positions for members in the surrounding algorithm. Finally, a distributed nonlinear model predictive control (DNMPC) is designed to resolve the problems of actuator saturation and inter-boat distance constraints, achieving collaborative surrounding control that meets collision avoidance safety. The paper analyzes the input-to-state stability (ISS) of the control system and validates the effectiveness of the surrounding algorithm through simulation experiments with multiple sets of different initial states and varying numbers of members.
- 参考文献/References:
-
[1] 王朝飞, 王慎执, 宋士吉, 等. 面向海域巡逻的多无人船路径规划方法及仿真[J]. 中国图象图形学报, 2023, 28(8): 2536-2548.
WANG Chaofei, WANG Shenzhi, SONG Shiji, et al. Multiple unmanned surface vehicles-based path planning method for sea patrol[J]. Journal of image and graphics, 2023, 28(8): 2536-2548.
[2] 马俊达, 谭冲, 刘可. 欠驱动无人船非奇异固定时间鲁棒包容控制[J]. 控制与决策, 2023, 38(5): 1286-1294.
MA Junda, TAN Chong, LIU Ke. Nonsingular fixed-time robust containment control for underactued unmanned surface vehicle[J]. Control and decision, 2023, 38(5): 1286-1294.
[3] 吴伟, 王宁, 王元元, 等. 多特征融合的无人船视觉目标跟踪[J]. 大连海事大学学报, 2023, 49(4): 37-45, 56.
WU Wei, WANG Ning, WANG Yuanyuan, et al. Multi-feature fusion-based visual target tracking for unmanned surface vehicles[J]. Journal of Dalian Maritime University, 2023, 49(4): 37-45, 56.
[4] 蒲进菁, 刘涵, 江云华, 等. 无人船现状及发展趋势综述[J]. 海洋信息, 2020, 35(1): 6-11.
PU Jinjing, LIU Han, JIANG Yunhua, et al. Summary of the status and development trends of unmanned surface vehicle[J]. Marine information, 2020, 35(1): 6-11.
[5] 普东东, 欧阳永忠, 马晓宇. 无人船监测与测量技术进展[J]. 海洋测绘, 2021, 41(1): 8-12,16.
PU Dongdong, OUYANG Yongzhong, MA Xiaoyu. Progress in monitoring and measurement technology of unmanned surface vehicles[J]. Hydrographic surveying and charting, 2021, 41(1): 8-12,16.
[6] 冯炜, 崔东华, 夏天冰, 等. 国外无人船集群运用特点分析及其应对启示[J]. 中国舰船研究, 2023, 18(1): 1-12.
FENG Wei, CUI Donghua, XIA Tianbing, et al. Analysis of characteristics of foreign unmanned surface vehicle swarm combat application and proposed countermeasures[J]. Chinese journal of ship research, 2023, 18(1): 1-12.
[7] LI Xianwei, TANG Yang, KARIMI H R. Consensus of multi-agent systems via fully distributed event-triggered control[J]. Automatica, 2020, 116: 108898.
[8] ZHANG Kaiqing, YANG Zhuoran, BA?AR T. Multi-agent reinforcement learning: a selective overview of theories and algorithms[M]//Studies in Systems, Decision and Control. Cham: Springer International Publishing, 2021: 321-384.
[9] YAO Deyin, LI Hongyi, LU Renquan, et al. Distributed sliding-mode tracking control of second-order nonlinear multiagent systems: an event-triggered approach[J]. IEEE transactions on cybernetics, 2020, 50(9): 3892-3902.
[10] 彭周华, 吴文涛, 王丹, 等. 多无人艇集群协同控制研究进展与未来趋势[J]. 中国舰船研究, 2021, 16(1): 51-64, 82.
PENG Zhouhua, WU Wentao, WANG Dan, et al. Coordinated control of multiple unmanned surface vehicles: recent advances and future trends[J]. Chinese journal of ship research, 2021, 16(1): 51-64, 82.
[11] 宋大雷, 干文浩, 许嘤枝, 等. 无人船实时路径规划与编队控制仿真研究[J]. 系统仿真学报, 2023, 35(5): 957-970.
SONG Dalei, GAN Wenhao, XU Yingzhi, et al. Simulation of real-time path planning and formation control for unmanned surface vessel[J]. Journal of system simulation, 2023, 35(5): 957-970.
[12] 胡涛. 基于无人艇编队的落海人员协同搜寻[D]. 武汉: 武汉理工大学, 2022: 3-10.
HU Tao. Multi-MASS cooperative search for man overboard[D]. Wuhan: Wuhan University of Technology, 2022: 3-10.
[13] 王洛泽. 多无人艇对目标的动态围捕方法研究[D]. 哈尔滨: 哈尔滨工程大学, 2019: 7-13.
WANG Luoze. Research on target dynamic hunting method for Multi-USV[D]. Harbin: Harbin Engineering University, 2019: 7-13.
[14] 宋利飞, 徐凯凯, 史晓骞, 等. 多无人艇协同围捕智能逃跑目标方法研究[J]. 中国舰船研究, 2023, 18(1): 52-59.
SONG Lifei, XU Kaikai, SHI Xiaoqian, et al. Multiple USV cooperative algorithm method for hunting intelligent escaped targets[J]. Chinese journal of ship research, 2023, 18(1): 52-59.
[15] 刘菁, 华翔, 张金金. 一种改进博弈学习的无人机集群协同围捕方法[J]. 西安工业大学学报, 2023, 43(03): 277-286.
LIU Qing, HUA Xiang, ZHANG Jinjin. Improved game learning method for UAV swarm cooperative hunting[J]. Journal of Xi’an Technological University, 2023, 43(03): 277-286.
[16] 徐望宝, 孙明炎. 群机器人自组织围捕多个入侵者的链阵方法[J]. 控制理论与应用, 2023, 40(1): 94-102.
XU Wangbao, SUN Mingyan. A self-organized chain formation method for swarm robots to enclose multiple intruders[J]. Control theory & applications, 2023, 40(1): 94-102.
[17] 于江龙, 董希旺, 李清东, 等. 拦截机动目标的分布式协同围捕制导方法[J]. 航空学报, 2022, 43(9): 325817.
YU Jianglong, DONG Xiwang, LI Qingdong, et al. Distributed cooperative encirclement hunting guidance method for intercepting maneuvering target[J]. Acta aeronautica et astronautica sinica, 2022, 43(9): 325817.
[18] 刘琨. 多无人艇协同搜索与围捕方法研究[D]. 哈尔滨: 哈尔滨工程大学, 2019: 10-16.
LIU Kun. Research on cooperative searching and huntingmethod for multiple unmanned surface vehicles[D]. Harbin: Harbin Engineering University, 2019: 10-16.
[19] SUN Zhiyuan, SUN Hanbing, LI Ping, et al. Cooperative strategy for pursuit-evasion problem with collision avoidance[J]. Ocean engineering, 2022, 266: 112742.
[20] HU Binbin, ZHANG Haitao, LIU Bin, et al. Distributed surrounding control of multiple unmanned surface vessels with varying interconnection topologies[J]. IEEE transactions on control systems technology, 2022, 30(1): 400-407.
[21] QU Xiuqing, GAN Wenhao, SONG Dalei, et al. Pursuit-evasion game strategy of USV based on deep reinforcement learning in complex multi-obstacle environment[J]. Ocean engineering, 2023, 273: 114016.
[22] FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. New York: Wiley, 2011.
[23] GONZALEZ-GARCIA A, CASTA?EDA H. Guidance and control based on adaptive sliding mode strategy for a USV subject to uncertainties[J]. IEEE journal of oceanic engineering, 2021, 46(4): 1144-1154.
[24] HU Binbin, ZHANG Haitao, SHI Yang. Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation[J]. Automatica, 2023, 148: 110788.
[25] LI Huanhuan, LIU Tengfei, JIANG Zhongping. A Lyapunov-based small-gain theorem for a network of finite-time input-to-state stable systems[J]. IEEE transactions on automatic control, 2024, 69(2): 1052-1059.
[26] ZUO Zongyu. Nonsingular fixed-time consensus tracking for second-order multi-agent networks[J]. Automatica, 2015, 54: 305-309.
[27] GONZALEZ-GARCIA A, COLLADO-GONZALEZ I, CUAN-URQUIZO R, et al. Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle[J]. Ocean engineering, 2022, 266: 112900.
[28] LYU Jixing, KAO Yonggui, WANG Changhong, et al. Fully predefined-time distributed observer design for second-order strict-feedback nonlinear systems[J]. International journal of robust and nonlinear control, 2023, 33(18): 11553-11567.
[29] ANDERSSON J A E, GILLIS J, HORN G, et al. CasADi: a software framework for nonlinear optimization and optimal control[J]. Mathematical programming computation, 2019, 11(1): 139.
[30] LU Yu, ZHANG Guoqing, SUN Zhijian, et al. Adaptive cooperative formation control of autonomous surface vessels with uncertain dynamics and external disturbances[J]. Ocean engineering, 2018, 167: 36-44.
[31] KOU Liwei, CHEN Zhiyong, XIANG Ji. Cooperative fencing control of multiple vehicles for a moving target with an unknown velocity[J]. IEEE transactions on automatic control, 2022, 67(2): 1008-1015.
备注/Memo
收稿日期:2024-5-20。
基金项目:国家自然科学基金项目（62403159）；国家自然科学基金项目（52171302）；中国科协青年人才托举工程项目（2022QNRC001）；新时代龙江优秀博士学位论文项目（LJYXL2022-004）.
作者简介:夏桂华，教授，博士生导师，主要研究方向为船舶运动建模与仿真、智能船舶技术和多无人艇协同作业。享受国务院特殊津贴，获省部级以上奖励10余项，发表学术论文 90 余篇。E-mail：xiaguihua_heu@163.com。;朱文序，博士研究生，主要研究方向为无人艇路径规划技术、无人艇轨迹跟踪控制和无人艇集群协同控制。E-mail：zhuwenxuheu@foxmail.com。;刘浩岩，硕士研究生，主要研究方向为基于数据驱动的无人艇运动模型优化算法研究。E-mail：liuhaoyan@hrbeu.edu.cn。
通讯作者:夏桂华. E-mail：xiaguihua_heu@163.com
更新日期/Last Update:
2025-01-05