【作者】 崔海英； 李桃苹； 杨扬；

【Author】 CUI Hai-ying;LI Tao-ping;YANG Yang;Northwestern Polytechnical University;Information and Control Science and Technology Key Laboratory of Underwater;

【机构】 西北工业大学航海学院； 水下信息与控制重点实验室；

【摘要】 本文在分布式通信方式下设计了多AUV的协同制导律,主要能够实现脱靶量为零和同时攻击这两部分功能。把剩余时间作为协调变量,时间的同步将转化为距离的同步进行处理。导引过程中,每个AUV只与其邻居之间进行通信,而不是全部AUV都互通信息。最后给出了数值模拟结果,验证了所设计的制导律能够实现协同控制,证明了实用性。更多还原

【Abstract】 In this paper,the cooperative guidance law of multiple AUVs is designed under distributed communication mode,which can realize the functions of zero distance miss and attack simultaneously.Using the time-to-go as a cooperative variable,the synchronization of time is translated into the synchronization of the distance.During the guidance process,each AUV communicates only with its neighbors,rather than all AUVs.Finally,numerical simulation results are given to verify that the designed guidance law can achieve cooperative control and prove the practicability.更多还原