无人船的协同控制策略综述
摘要
随着自动控制和人工智能技术的发展,具有较高自主化程度的无人船舶正逐渐成为学术界和工业界的研究热点。在简要介绍了多智能体系统的分类、组织结构和通讯方式之后,本文总结了无人船的控制系统结构,并着重梳理了多无人船协同控制策略领域的最新研究进展。本文将无人船的协同控制研究概括为编队控制、动态警戒控制和协同拖曳控制等三个类别,重点对各个领域近十年来主要的研究成果进行了论述,最后对无人船协同控制的未来研究和应用方向进行了展望。
引文
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[2]MURPHY R R,STEIMLE E,HALL M,et al.Robot-assisted bridge inspection[J].Journal of Intelligent&Robotic Systems,2011,64(1):77-95.
[3]MURPHY R R,STEIMLE E,GRIFFIN C,et al.Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma[J].Journal of Field Robotics,2008,25(3):164-80.
[4]MURPHY R R,DREGER K L,NEWSOME S,et al.Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery[J].Journal of Field Robotics,2012,29(5):819-831.
[5]IHLE I A F,JOUFFROY J,FOSSEN T I.Formation control of marine surface craft:A Lagrangian approach[J].IEEEJournal of Oceanic Engineering,2006,31(4):922-934.
[6]KYRKJEB?E,PETTERSEN K Y,WONDERGEM M,et al.Output synchronization control of ship replenishment operations:Theory and experiments[J].Control Engineering Practice,2007,15(6):741-755.
[7]SCHOERLING D,VAN KLEECK C,FAHIMI F,et al.Experimental test of a robust formation controller for marine unmanned surface vessels[J].Autonomous Robots,2010,28(2):213-230.
[8]SHOJAEI K.Leader-follower formation control of underactuated autonomous marine surface vehicles with limited torque[J].Ocean Engineering,2015,105:196-205.
[9]SHOJAEI K.Observer-based neural adaptive formation control of autonomous surface vessels with limited torque[J].Robotics and Autonomous Systems,2016,78:83-96.
[10]B?RHAUG E,PAVLOV A,PANTELEY E,et al.Straight line path following for formations of underactuated marine surface vessels[J].IEEE Transactions on Control Systems Technology,2011,19(3):493-506.
[11]PENG Z,WANG D,LI T,et al.Leaderless and leader-follower cooperative control of multiple marine surface vehicles with unknown dynamics[J].Nonlinear Dynamics,2013,74:95-106.
[12]PENG Z,WANG D,CHEN Z,et al.Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics[J].IEEE Transactions on Control Systems Technology,2013,21(2):513-520.
[13]DONG W.Cooperative control of underactuated surface vessels[J].IET control theory&applications,2010,4(9):1569-1580.
[14]ALMEIDA J,SILVESTRE C,PASCOAL A.Cooperative control of multiple surface vessels with discrete‐time periodic communications[J].International Journal of Robust and Nonlinear Control,2012,22(4):398-419.
[15]ARRICHIELLO F,CHIAVERINI S,FOSSEN T I.Formation control of underactuated surface vessels using the null-space-based behavioral control[C]//Intelligent Robots and Systems,2006 IEEE/RSJ International Conference on.IEEE,2006:5942-5947.
[16]FAHIMI F.Sliding-mode formation control for underactuated surface vessels[J].IEEE Transactions on Robotics,2007,23(3):617-622.
[17]ADAMEK T,KITTS C A,MAS I.Gradient-based cluster space navigation for autonomous surface vessels[J].IEEE/ASME Transactions on Mechatronics,2015,20(2):506-518.
[18]MAHACEK P,MAS I,KITTS C.Cluster space control of autonomous surface vessels utilizing obstacle avoidance and shielding techniques[C]//Autonomous Underwater Vehicles(AUV),2010 IEEE/OES.IEEE,2010:1-5.
[19]MAHACEK P,KITTS C,MAS I.Dynamic guarding of marine assets through cluster control of automated surface vessel fleets[J].IEEE/ASME Transactions on Mechatroni cs,2012,17(1):65-75.
[20]RABOIN E,?VEC P,NAU D S,et al.Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats[J].Autonomous Robots,2015,38(3):261-282.
[21]ARRICHIELLO F,HEIDARSSON H K,CHIAVERINIS,et al.Cooperative caging and transport using autonomous aquatic surface vehicles[J].Intelligent Service Robotics,2012,5(1):73-87.
[22]FEEMSTER M,ESPOSITO J,NICHOLSON J.Manipulation of large object by swarms of autonomous marine vehicles,part i:Rotational motions[C]//System Theory,2006.SSST'06.Proceeding of the Thirty-Eighth Southeastern Symposium on.IEEE,2006:205-209.
[23]SMITH E T,FEEMSTER M G,ESPOSITO J M.Swarm Manipulation of An Unactuated Surface Vessel[C]//System Theory,2007.SSST'07.Thirty-Ninth Southeastern Symposium on.IEEE,2007:16-20.
[24]ESPOSITO J,FEEMSTER M,SMITH E.Cooperative manipulation on the water using a swarm of autonomous tugboats[C]//Robotics and Automation,2008 IEEEInternational Conference on.IEEE,2008:1501-1505.
[25]FEEMSTER M G,ESPOSITO J M.Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel[J].Journal of Field Robotics,2011,28(1):80-100.
[26]ESPOSITO J M.Distributed grasp synthesis for swarm manipulation with applications to autonomous tugboats[C]//Robotics and Automation,2008.ICRA 2008.IEEEInternational Conference on.IEEE,2008:1489-1494.
[27]BUI V P,KAWAI H,KIM Y B,et al.A ship berthing system design with four tug boats[J].Journal of mechanical science and technology,2011,25(5):1257-1264.
[28]BUI V P,KIM Y B.Development of constrained control allocation for ship berthing by using autonomous tugboats[J].International Journal of Control,Automation and Systems,2011,9(6):1203-1208.
[29]BIDIKLI B,TATLICIOGLU E,ZERGEROGLU E.Robust dynamic positioning of surface vessels via multiple unidirectional tugboats[J].Ocean Engineering,2016,113:237-245.