论文标题
具有安全保证的多个自动水下车辆的轨迹计划
Trajectory planning for multiple autonomous underwater vehicles with safety guarantees
论文作者
论文摘要
本文介绍了强波的多个自动水下车辆（AUV）的轨迹计划，这些轨迹可能会干扰AUVS的轨迹跟踪能力，并引起障碍物和车间间碰撞。提出了一种基于汉密尔顿 - 雅各布（Hamilton-Jacobi）差异游戏公式和模型预测控制的新方法，以生成安全保障的轨迹，以考虑到波浪干扰的AUV系统，这是随时间变化的状态与国家独立或时间变化的状态依赖性的。这种方法计划为多个AUV的安全保证轨迹，并考虑了AUV的形状，在这种情况下，通过强双重性获得了非线性平稳避免避免限制。
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based on Hamilton-Jacobi differential game formulation and model predictive control is proposed to generate safety-guaranteed trajectories for AUV systems considering wave disturbance that is either time-varying state-independent or time-varying state-dependent. This approach plans safety-guaranteed trajectories for multiple AUVs and considers the shapes of AUVs, where nonlinear smooth collision avoidance constraints are obtained via strong duality.
