弱通信条件下多AUV编队控制及协作机制研究
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摘要
自主式水下机器人可以代替人类在海洋环境中执行复杂危险的工作，在海底探测、水下作业、海上作战等方面具有广泛的应用前景。鉴于多水下机器人在各方面的优势和相关技术的发展，多水下机器人协同作业成为水下机器人新的应用形式。与陆上自主移动机器人相比，水下特殊的工作环境给多水下机器人系统的研究和设计带来更多困难。水声通信产生的不可忽略的信息延迟、通信失效以及高误码率等不利因素给多水下机器人的协调与协作带来很大的挑战。本文以多水下机器人系统在弱通信环境中普遍存在的协同问题为核心，分别研究通信时延及通信失效对编队系统及其稳定性的影响和基于局部感知和有限通信范围的协调与协作机制。本文的主要研究工作概括如下：
(1)研究了一类具有双积分动态的群体编队系统的稳定性，针对水声通信容易产生较大的信息延迟问题，为了使编队收敛至指定速度，采用时延依赖的分布式控制律产生控制输入，然后利用拉普拉斯矩阵的性质对系统进行线性变换，根据奈奎斯特稳定判据分析系统达到稳定的条件以及收敛性，研究时延上限与控制参数和通信拓扑结构的变化关系，并表明在控制律中加入时延相关的预测项的必要性；针对水声通信失效或偶然中断问题，将该编队系统看作一个具有马尔可夫性质的切换拓扑结构，在一致性算法的基础上，利用不可分解且非周期随机矩阵的性质，分析群体收敛至稳定的期望编队的条件。实验结果表明，所采用的控制律和得到的稳定结论是正确的，有效地解决了通信时延和通信失效情况下的群体编队问题，对于多水下机器人在弱通信环境中的编队问题具有一定的实用价值。
(2)在前面研究的基础上，结合水下机器人的动力学特性，研究了通信时延和通信失效影响的多水下机器人编队系统稳定性问题。以某型全驱动水下机器人为例，通过变换将其动态模型表示为双积分形式，并以双积分群体编队控制律和稳定性结论为基础，分别设计水下机器人在通信时延和通信失效情况下的控制输入，证明在一定条件下，所采用的方法能够使多个水下机器人逐渐地收敛至指定编队。对于通信失效问题，还分析采用DR算法对收敛过程的影响。实验结果表明，所提出的策略和得到的结论是有效的。
(3)研究了多水下机器人协同目标搜索机制，将任务完成过程分为目标线索搜索、追踪目标线索和准确定位目标三个阶段。以海底热液探测为例，水下机器人在开始阶段以编队运动方式在较大海域内进行全局范围的目标线索搜索，然后在局部范围内完成目标线索跟踪和目标定位任务。针对水声通信的通信范围小、通信质量差等限制，利用交哺式通信在水下机器人群体内部涌现出“虚拟食物”的梯度方向，模拟鱼群行为实现目标线索跟踪。实验结果表明，群体内部的拥挤因子和“虚拟食物”阈值对系统性能有影响，引入鱼群行为和增加拥挤因子有利于提高完成任务的效率。
(4)以海洋矿物标本或海底硫化物的采集作业为应用背景，研究了生物交哺行为在多水下机器人协作搜集任务中的应用。给每个水下机器人定义一个内部变量衡量其自身的工作状态，并通过比较不同水下机器人的内部状态变量来判断交哺的可能性和方向性，进一步用状态转换图表示不同工作状态之间的关系。利用微分方程从宏观角度描述了系统中水下机器人在各状态的分布随时间变化情况，研究了各参数和状态转移概率等因素对系统性能的影响。将提出的方法与其他相关的协作方法进行了比较，实验结果表明了引入交哺行为对提高系统性能的有效性。
The autonomous underwater vehicle (AUV) can perform complex, arduous and evendangerous tasks in marine environments instead of human beings, such as the seabedexploration, underwater operation, and offshore battle. Due to the advantages of multipleAUVs and the development of underwater vehicles, multiple AUV cooperation becomes anew application style. Compared to the autonomous mobile robots on land, the severeunderwater environments bring in more difficulties to the research and design of multipleautonomous underwater vehicle system (MAUVS). The drawbacks of underwater acousticcommunication, such as the unelectable communication delays, communication failures andhigh bit error rate, are great challenges to the coordination and cooperation of MAUVS. Thecore of the dissertation is the cooperation control of MAUVS under conditions of limitedcommunication, respectively, focusing on the formation and its stability with communicationdelays and communication failures, the coordination and cooperation mechanism based on thelocal sensing and limited communication range. This main research work is as follows:
Firstly, the stability of the group formation system with a double integral dynamics isstudied. For the large delayed information exchange through underwater acousticcommunication, a delay-dependent distributed control law is adopted to generate the controlinput in order to enable the formation converge to the specified speed. Then the properties ofthe Laplacian matrix are used to take transformations on the system. The stability conditionsand convergence are investigated according to the Nyquist stability criterion with thefrequency domain analysis method. The relationship between the upper-bound delay andcontrol parameters, the communication topology is also obtained. The analysis results verifythe necessary of prediction item in the control law. For the problem of underwater acousticcommunication failure or accidental interruption, the formation system is taken as a switchingtopology with Markov chain nature. The properties of the irreducible and aperiodic stochasticmatrix are used to analyze the conditions that ensure the group with consensus algorithm canconverge to the stable specified formation. Experimental results show the correctness of thecontrol law and the stability conclusions which solve the group formation problem withcommunication delays and communication failures. The work is of practical value for MAUVS under conditions of limited communication.
Secondly, combining with the dynamics of AUV, the stability of multiple AUV formationsystem is studied on the basis of the above research with communication delays andcommunication failures. Taking a type of actuated underwater vehicle as example, thedynamic model of the underwater vehicle is expressed as a double integrator by feedbacklinearization. Then the formation control law and the stability conclusion derived by thedouble integrator can be used to produce the control input for underwater vehicles in case ofcommunication delays and communication failures. The control laws are justified to enablemultiple AUVs converge to the specified formation under certain conditions. For the problemof communication failures, the effect of DR algorithm to convergence process is analyzed.The experimental results show the validity of formation control strategy and the conclusions.
Thirdly, the coordination and cooperation mechanism is studied with the target searchtask. The task process is divided into three stages: searching for target clues, tracking thetarget clues and locating the accurate position of the target. Taking seafloor hydrothermaldetection for example, multiple AUVs move in formation pattern in the global range to searchfor clues within larger water area at the beginning stages, and then track clues in local rangeuntil they find the accurate position of the target. For the restrictions of limitedcommunication range and poor communication quality of underwater acousticcommunication, trophallaxis communication is introduced to emerge the direction of thegradient of the "virtual food" within the AUV group. The swarming behaviors of fish areimitated to track clues for AUVs. The experimental results show that crowding factor withinthe group and the threshold of the "virtual food" impact on the system performance. Also, theintroduction of fish behaviors and the increase of crowding factor help to improve theefficiency of the system.
Finally, the application of biological trophallaxis behavior for multiple AUV cooperativecollection task is considered with the application background of marine mineral specimen orseabed sulfide sample collection mission. An internal variable is defined for each AUV tomeasure its own working state. The possibility and the direction of trophallaxis are judged bycomparing internal variables of different AUVs. The finite state machine is proposed todescribe the switching process of AUVs between different states. Differential equations arealso used to describe the distribution of AUVs on each state over time from a macro perspective. The effect of parameters, state transition probability, and other factors on systemperformance is analyzed on the basis of mathematical model built as above. Comparing theproposed method with other approaches, experimental results show the introduction oftrophallaxis behavior improves system performance effectively.
(1)研究了一类具有双积分动态的群体编队系统的稳定性，针对水声通信容易产生较大的信息延迟问题，为了使编队收敛至指定速度，采用时延依赖的分布式控制律产生控制输入，然后利用拉普拉斯矩阵的性质对系统进行线性变换，根据奈奎斯特稳定判据分析系统达到稳定的条件以及收敛性，研究时延上限与控制参数和通信拓扑结构的变化关系，并表明在控制律中加入时延相关的预测项的必要性；针对水声通信失效或偶然中断问题，将该编队系统看作一个具有马尔可夫性质的切换拓扑结构，在一致性算法的基础上，利用不可分解且非周期随机矩阵的性质，分析群体收敛至稳定的期望编队的条件。实验结果表明，所采用的控制律和得到的稳定结论是正确的，有效地解决了通信时延和通信失效情况下的群体编队问题，对于多水下机器人在弱通信环境中的编队问题具有一定的实用价值。
(2)在前面研究的基础上，结合水下机器人的动力学特性，研究了通信时延和通信失效影响的多水下机器人编队系统稳定性问题。以某型全驱动水下机器人为例，通过变换将其动态模型表示为双积分形式，并以双积分群体编队控制律和稳定性结论为基础，分别设计水下机器人在通信时延和通信失效情况下的控制输入，证明在一定条件下，所采用的方法能够使多个水下机器人逐渐地收敛至指定编队。对于通信失效问题，还分析采用DR算法对收敛过程的影响。实验结果表明，所提出的策略和得到的结论是有效的。
(3)研究了多水下机器人协同目标搜索机制，将任务完成过程分为目标线索搜索、追踪目标线索和准确定位目标三个阶段。以海底热液探测为例，水下机器人在开始阶段以编队运动方式在较大海域内进行全局范围的目标线索搜索，然后在局部范围内完成目标线索跟踪和目标定位任务。针对水声通信的通信范围小、通信质量差等限制，利用交哺式通信在水下机器人群体内部涌现出“虚拟食物”的梯度方向，模拟鱼群行为实现目标线索跟踪。实验结果表明，群体内部的拥挤因子和“虚拟食物”阈值对系统性能有影响，引入鱼群行为和增加拥挤因子有利于提高完成任务的效率。
(4)以海洋矿物标本或海底硫化物的采集作业为应用背景，研究了生物交哺行为在多水下机器人协作搜集任务中的应用。给每个水下机器人定义一个内部变量衡量其自身的工作状态，并通过比较不同水下机器人的内部状态变量来判断交哺的可能性和方向性，进一步用状态转换图表示不同工作状态之间的关系。利用微分方程从宏观角度描述了系统中水下机器人在各状态的分布随时间变化情况，研究了各参数和状态转移概率等因素对系统性能的影响。将提出的方法与其他相关的协作方法进行了比较，实验结果表明了引入交哺行为对提高系统性能的有效性。
The autonomous underwater vehicle (AUV) can perform complex, arduous and evendangerous tasks in marine environments instead of human beings, such as the seabedexploration, underwater operation, and offshore battle. Due to the advantages of multipleAUVs and the development of underwater vehicles, multiple AUV cooperation becomes anew application style. Compared to the autonomous mobile robots on land, the severeunderwater environments bring in more difficulties to the research and design of multipleautonomous underwater vehicle system (MAUVS). The drawbacks of underwater acousticcommunication, such as the unelectable communication delays, communication failures andhigh bit error rate, are great challenges to the coordination and cooperation of MAUVS. Thecore of the dissertation is the cooperation control of MAUVS under conditions of limitedcommunication, respectively, focusing on the formation and its stability with communicationdelays and communication failures, the coordination and cooperation mechanism based on thelocal sensing and limited communication range. This main research work is as follows:
Firstly, the stability of the group formation system with a double integral dynamics isstudied. For the large delayed information exchange through underwater acousticcommunication, a delay-dependent distributed control law is adopted to generate the controlinput in order to enable the formation converge to the specified speed. Then the properties ofthe Laplacian matrix are used to take transformations on the system. The stability conditionsand convergence are investigated according to the Nyquist stability criterion with thefrequency domain analysis method. The relationship between the upper-bound delay andcontrol parameters, the communication topology is also obtained. The analysis results verifythe necessary of prediction item in the control law. For the problem of underwater acousticcommunication failure or accidental interruption, the formation system is taken as a switchingtopology with Markov chain nature. The properties of the irreducible and aperiodic stochasticmatrix are used to analyze the conditions that ensure the group with consensus algorithm canconverge to the stable specified formation. Experimental results show the correctness of thecontrol law and the stability conclusions which solve the group formation problem withcommunication delays and communication failures. The work is of practical value for MAUVS under conditions of limited communication.
Secondly, combining with the dynamics of AUV, the stability of multiple AUV formationsystem is studied on the basis of the above research with communication delays andcommunication failures. Taking a type of actuated underwater vehicle as example, thedynamic model of the underwater vehicle is expressed as a double integrator by feedbacklinearization. Then the formation control law and the stability conclusion derived by thedouble integrator can be used to produce the control input for underwater vehicles in case ofcommunication delays and communication failures. The control laws are justified to enablemultiple AUVs converge to the specified formation under certain conditions. For the problemof communication failures, the effect of DR algorithm to convergence process is analyzed.The experimental results show the validity of formation control strategy and the conclusions.
Thirdly, the coordination and cooperation mechanism is studied with the target searchtask. The task process is divided into three stages: searching for target clues, tracking thetarget clues and locating the accurate position of the target. Taking seafloor hydrothermaldetection for example, multiple AUVs move in formation pattern in the global range to searchfor clues within larger water area at the beginning stages, and then track clues in local rangeuntil they find the accurate position of the target. For the restrictions of limitedcommunication range and poor communication quality of underwater acousticcommunication, trophallaxis communication is introduced to emerge the direction of thegradient of the "virtual food" within the AUV group. The swarming behaviors of fish areimitated to track clues for AUVs. The experimental results show that crowding factor withinthe group and the threshold of the "virtual food" impact on the system performance. Also, theintroduction of fish behaviors and the increase of crowding factor help to improve theefficiency of the system.
Finally, the application of biological trophallaxis behavior for multiple AUV cooperativecollection task is considered with the application background of marine mineral specimen orseabed sulfide sample collection mission. An internal variable is defined for each AUV tomeasure its own working state. The possibility and the direction of trophallaxis are judged bycomparing internal variables of different AUVs. The finite state machine is proposed todescribe the switching process of AUVs between different states. Differential equations arealso used to describe the distribution of AUVs on each state over time from a macro perspective. The effect of parameters, state transition probability, and other factors on systemperformance is analyzed on the basis of mathematical model built as above. Comparing theproposed method with other approaches, experimental results show the introduction oftrophallaxis behavior improves system performance effectively.
引文
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