水下滑翔机是开展海洋无人移动观测的重要平台,其实际航行轨迹往往与预设路径存在较大差异,多台水下滑翔机协同观测时,难以始终保持预设的组网阵列。本研究提出一种基于牛顿力学积分的水下滑翔机群协同控制算法,根据水下滑翔机群出、入水的异步性调节水下滑翔机入水前的运动参数。基于对水下滑翔机受力分析,利用牛顿力学积分还原水下滑翔机在海洋中的运动状态,进而运用水下滑翔机群的协同控制算法同时约束多台水下滑翔机的运动,并开展仿真实验。实验结果证明该算法能够使多台水下滑翔机较好地保持预设组网阵列,从而可对目标海域进行协同观测。
The underwater glider is an important platform for unmanned motion observation of the ocean. However, it is difficult to maintain the preset net array when multiple underwater gliders cooperate in observation.In this study, an underwater glider group cooperative control algorithm based on Newton mechanical integration was proposed to adjust the motion parameters of the glider group before entering the water according to its asynchronous entering and leaving the water.Based on the force analysis of the underwater glider, the motion state of the underwater glider in the ocean was restored by Newton mechanics integral. The cooperative control algorithm of the underwater glider group was used to constrain the motion of several underwater gliders at the same time, and the simulation experiment was carried out. The results of experiment show that the algorithm can keep the preset net array of multiple underwater gliders well, so that the target sea area can be observed cooperatively.
[1] WANG Shujie, YUAN Peng, LI Dong, et al. An overview of ocean renewable energy in China[J]. Renewable & Sustainable Energy Reviews, 2011, 15(1): 91-111.
[2] PALEY D A, ZHANG Fumin, 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.
[3] VÅAGE K, PAPRITZ L, HÅAVIK L, et al. Ocean convection linked to the recent ice edge retreat along east Greenland[J]. Nature Communications, 2018, 9(1): 1-8.
[4] BOSSE A, FER I, LILLY J M, et al. Dynamical controls on the longevity of a non-linear vortex: The case of the Lofoten Basin Eddy[J]. Scientific Reports, 2019, 9(1): 1-13.
[5] BAEYENS W, GAO Yue, DAVISON W, et al. In situ measurements of micronutrient dynamics in open seawater show that complex dissociation rates may limit diatom growth[J]. Scientific Reports, 2018, 8(1): 1-11.
[6] SÁNCHEZROMÁN A, GOMEZNAVARRO L, FABLET R, et al. Rafting behaviour of seabirds as a proxy to describe surface ocean currents in the Balearic Sea[J]. Scientific Reports, 2019, 9(1): 1-11.
[7] LEONARD N E, PALEY D A, LEKIEN F, et al. Collective motion, sensor networks, and ocean sampling[J]. Proceedings of the IEEE, 2007, 95(1): 48-74.
[8] PENG Shiqiu, ZHU Yuhang, LI Zhijin, et al. Improving the real-time marine forecasting of the northern South China Sea by assimilation of glider-observed T/S profiles[J]. Scientific Reports, 2019, 9(1): 1-9.
[9] 李沛伦,杨启.基于改进人工势场法的水下滑翔机路径规划[J].舰船科学技术,2019,41(7):93-97.
LI Peilun, YANG Qi. Path planning for underwater glider based on improved artificial potential field method[J]. Ship Science and Technology, 2019, 41(7): 93-97.
[10] FIORELLI E, LEONARD N E, BHATTA P, et al. Multi-AUV control and adaptive sampling in Monterey Bay[C]//Autonomous Underwater Vehicles, IEEE/OES. IEEE, 2004.
[11] SEPULCHRE R, PALEY D A, LEONARD N E, et al. Stabilization of planar collective motion with limited communication[J]. IEEE Transactions on Automatic Control, 2008, 53(3): 706-719.
[12] HERNANDEZ S, PALEY D A. Three-dimensional motion coordination in a time-invariant flowfield[C]//Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference. IEEE, 2009: 7043-7048.
[13] LAGOR F D, DAVIS A, IDE K, et al. Non-Gaussian estimation of a two-vortex flow using a Lagrangian sensor guided by output feedback control[C]//Advances in computing and communications, 2016: 1030-1035.
[14] QI Sumin, CAO Baoxiang. Visual teaching of basic mechanics experiments based on motion detection[C]//2009 International Conference on Computational Intelligence and Software Engineering. IEEE, 2009: 1-4.
[15] DING Xuchu, RAHMANI A R, EGERSTEDT M. Multi-AUV convoy protection: An optimal approach to path planning and coordination[J]. Robotics, IEEE Transactions on, 2010, 26(2): 256-268.