TY - GEN
T1 - Research on Collaborative Control and Path Planning Methods for Surface and Underwater Multi-agent Systems
AU - Cheng, Mengru
AU - Ma, Xuan
AU - Guo, Ziwei
AU - Lyu, Teng
AU - Wang, Keyi
AU - Zhou, Zhiqiang
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, we study the path planning and control problem in surface and underwater multi-agent systems, propose a formation control method for efficient obstacle avoidance, and combine it with path planning to realize formation work. Firstly, an affine formation control algorithm for surface-underwater collaborative control is designed to realize the maneuvering control of the formation. Three obstacle avoidance schemes are proposed for effective obstacle avoidance based on the various obstacle distributions. Then, global path planning is carried out on the target area, and local path planning is carried out by using the A∗ algorithm combined with the obstacle avoidance strategy, and the results of the planning are optimized according to the demand. Finally, the effectiveness of the method is verified by simulation experiments.
AB - In this paper, we study the path planning and control problem in surface and underwater multi-agent systems, propose a formation control method for efficient obstacle avoidance, and combine it with path planning to realize formation work. Firstly, an affine formation control algorithm for surface-underwater collaborative control is designed to realize the maneuvering control of the formation. Three obstacle avoidance schemes are proposed for effective obstacle avoidance based on the various obstacle distributions. Then, global path planning is carried out on the target area, and local path planning is carried out by using the A∗ algorithm combined with the obstacle avoidance strategy, and the results of the planning are optimized according to the demand. Finally, the effectiveness of the method is verified by simulation experiments.
KW - formation control
KW - obstacle avoidance
KW - path planning
KW - surface and underwater multi-agent
UR - http://www.scopus.com/inward/record.url?scp=85200340008&partnerID=8YFLogxK
U2 - 10.1109/CCDC62350.2024.10587350
DO - 10.1109/CCDC62350.2024.10587350
M3 - Conference contribution
AN - SCOPUS:85200340008
T3 - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
SP - 3841
EP - 3846
BT - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 36th Chinese Control and Decision Conference, CCDC 2024
Y2 - 25 May 2024 through 27 May 2024
ER -