Distributed Model Predictive Control for Battery Level-based Formation and Obstacle Avoidance in USVs-UAV System
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摘要: 研究无人水面舰艇−无人机(USVs-UAV)系统中基于电量状态的编队控制、避障与轨迹跟踪问题, 提出一种分布式模型预测控制方法以实现多无人载具协同. 第一, 基于USV电量设计编队模型, 实时调整编队构型. 第二, 设计空海协同避障机制, 利用UAV空中高度优势构建障碍物监测网络, 实时更新水面障碍物信息至USV群. 第三, 优化控制框架将编队控制、避障与轨迹跟踪问题统一转化为带约束的优化问题, 通过求解最优控制输入实现多无人载具协同.Abstract: The formation control, obstacle avoidance, and trajectory tracking problems in unmanned surface vehicles-unmanned aerial vehicle (USVs-UAV) system is studied, this paper proposes a distributed model predictive control method to achieve multi-unmanned vehicle collaboration. First, a formation model is designed based on the battery level of USV to enable real-time adjustment of formation configurations. Second, an air-sea collaboration obstacle avoidance mechanism is designed, leveraging the aerial altitude advantage of UAV to construct an obstacle monitoring network that continuously updates surface obstacle information to the USVs. Third, the optimized control framework integrates formation control, obstacle avoidance, and trajectory tracking by transforming these problems into a constrained optimization problem, achieving multi-unmanned vehicle collaboration through the solution of optimal control inputs.
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表 1 UAV的参数
Table 1 Parameters of UAV
参数 值 $m_{a}$ $ 2.000\;\mathrm{kg} $ $ d $ $ 0.200\;\mathrm{N{\cdot} s/m} $ $ \alpha_{d} $ $ 0.010\;\mathrm{N{\cdot} s/m} $ $ I_{xx} $ $ 0.120\;\mathrm{kg{\cdot} m^{2}} $ $ I_{yy} $ $ 0.120\;\mathrm{kg{\cdot} m^{2}} $ $ I_{zz} $ $ 0.250\;\mathrm{kg{\cdot} m^{2}} $ $ k_{tx_{\alpha}} $ $ 0.010\;\mathrm{N{\cdot} s/m} $ $ k_{ty_{\alpha}} $ $ 0.010\;\mathrm{N{\cdot} s/m} $ $ k_{t\theta_{\alpha}} $ $ 0.001\;\mathrm{N{\cdot} s/m} $ $ k_{t\phi_{\alpha}} $ $ 0.001\;\mathrm{N{\cdot} s/m} $ $ k_{t\psi_{\alpha}} $ $ 0.001\;\mathrm{N{\cdot} s/m} $ 
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表 2 USV的参数
Table 2 Parameters of USV
参数 值 $m$ $ 23.800\;\mathrm{kg} $ $ X_{\dot{u}} $ $ -2.000\;\mathrm{kg} $ $ Y_{\dot{v}} $ $ -10.000\;\mathrm{kg} $ $ N_{\dot{v}} $ $ 0\;\mathrm{kg {\cdot}t m} $ $ Y_{\dot{r}} $ $ 0\;\mathrm{kg {\cdot}t m} $ $ N_{\dot{r}} $ $ -1.000\;\mathrm{kg {\cdot}t m^{2}} $ $ x_{g} $ $0.046\;\mathrm{m}$ $ d_{11}(\nu_{s}) $ $ (12+2.5|u_{s}|)\;\mathrm{N{\cdot}t s/m} $ $ d_{23}(v_{s}) $ $ 0.200\;\mathrm{N{\cdot}t s/m} $ $ d_{22}(\nu_{s}) $ $ (17+4.5|v_{s}|)\;\mathrm{N{\cdot}t s/m} $ $ d_{32}(v_{s}) $ $ 0.500\;\mathrm{N{\cdot}t s/m} $ $ d_{33}(\nu_{s}) $ $ (0.5+0.1|r_{s}|\;)\mathrm{N{\cdot}t s/m} $
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表 3 初始位置和电量
Table 3 Initial positions and initial battery levels
载具 电量 初始位置(m) $ USV_{0} $ $90\%\;(Q_{(4)})$ $ [6,\; 10.5,\; 0] $ $ USV_{1} $ $70\%\;(Q_{(2)})$ $ [10.5,\; 0,\; 0] $ $ USV_{2} $ $65\%\;(Q_{(1)})$ $ [5.5,\; -9,\; 0] $ $ USV_{3} $ $80\%\;(Q_{(3)})$ $ [-4.3,\; 9.5,\; 0] $
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