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浙江大学学报(工学版)
浙江大学学报(工学版)
自动化技术、通信工程     
多地面无人平台协同尾随跟踪
宋志强1,2, 周献中1, 李华雄1
1. 南京大学 控制与系统工程系,江苏 南京 210008； 2. 苏州经贸职业技术学院 机电与信息技术学院,江苏 苏州 215009
Coordinated stalking tracking for multiple unmanned ground vehicles
SONG Zhi qiang1,2, ZHOU Xian zhong1, LI Hua xiong1
1. Department of Control and System Engineering, Nanjing University, Nanjing 210008, China; 2. Institute of Electrical and Information Technology, Suzhou Institute of Trade and Commerce, Suzhou 215009, China
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摘要：

为使多地面无人平台(MUGVs)可在目标后方或侧面持续不间断地对跟踪目标,提出MUGVs协同尾随跟踪模式.在跟踪过程中,每个UGV与目标保持一定的距离,同时各UGV之间保持一定的相位.针对协同尾随跟踪的特点,提出基于地面无人平台运动学模型的协同跟踪算法.对协同尾随跟踪进行定义,针对地面无人平台运动学模型,重新定义目标运动模型.基于Lyapunov稳定性理论设计控制律,并证明算法的渐进稳定性.为使算法更具实用性,在算法中集成避障功能,通过模糊推理实现避障.所设计的算法能够实现多地面无人平台协同尾随跟踪目标,使得各个地面无人平台既和目标保持一定的距离,又能保持一定的相位.在有障碍物的情况下,地面无人平台可以安全避开障碍,之后继续尾随跟踪目标.仿真实验表明了算法的正确性和有效性.
Abstract:

A mode of coordinated stalking tracking of multiple unmanned ground vehicles (MUGVs) was proposed in order to make the MUGVs uninterruptedly track the target in the rear or from the side. In the process of tracking, each UGV keeps a certain distance with the target and maintains the phase between the UGVs at the same time. According to the characteristics of the coordinated stalking tracking, a coordinated tracking algorithm was proposed based on the kinematics model of the unmanned ground vehicle. Firstly, the stalking tracking was defined, and the target kinematic model was redefined based on the kinematics model of the UGV. Then, the control law was designed based on the Lyapunov stability theory. The asymptotic stability of the algorithm was proved and the obstacle avoidance function through fuzzy reasoning was integrated in order to make the algorithm more practical. The designed algorithm can achieve the coordinated stalking tracking of multiple unmanned ground vehicles for the target, keeping a certain distance and phase between the ground unmanned vehicles and the target. In the presence of obstacles, unmanned ground vehicles can avoid obstacles safely, and then continue to cooperative following target. The developed algorithm is shown to be stable and convergent through theoretical proof, and simulation results show the correctness and the effectiveness of the algorithm.
出版日期: 2015-12-31
:  TP 273  
基金资助:

装备预研基金重点资助项目(9140A06050213BQX).
通讯作者: 周献中，教授，博导. ORCID：0000 0003 4321 1441.     E-mail: zhouxz@nju.edu.cn
作者简介: 宋志强(1977—)，男，副教授，从事协同跟踪研究. ORCID：0000 0002 8073 8405. E-mail:Songzq2000@163.com
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引用本文:

宋志强, 周献中, 李华雄. 多地面无人平台协同尾随跟踪[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.12.015.

SONG Zhi qiang, ZHOU Xian zhong, LI Hua xiong. Coordinated stalking tracking for multiple unmanned ground vehicles. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.12.015.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.12.015    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I12/2349

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