基于引导向量场的跨域无人系统协同导航控制
Coordinated Navigation Control of Cross-Domain Unmanned Systems via Guiding Vector Fields
AI总结：
本研究针对跨域异构无人系统的协同导航需求，提出分层分布式引导向量场控制器，仅靠标量轻量通信实现异构协同，经理论推导和实湖实验验证了有效性与低通信计算成本优势。
摘要：
本文提出了一种分布式引导向量场（DGVF）控制器，用于由异构无人机（UAV）和无人水面艇（USV）组成的跨域无人系统（CDUS），以实现沿预设路径机动时的协同导航。具体而言，DGVF控制器采用分层架构，包含上层异构引导速度控制器和下层信号跟踪调节器。其中，上层控制器用于控制多架异构UAV和多艘异构USV趋近并沿预设路径机动，同时协调编队；而下层调节器用于跟踪上层模块提供的对应期望引导信号。值得注意的是，相邻UAV与USV之间的异构协同仅需通过一个标量（即附加虚拟坐标）的轻量通信即可实现，大幅降低了通信和计算成本。在跟踪误差指数衰减的条件下，推导了保证闭环系统渐近收敛的充分条件。最后，在自建的跨域异构平台上开展了真实湖泊实验，该平台包含3架M-100 UAV、2艘HUSTER-16 USV、1艘HUSTER-12C USV以及一个WiFi 5G无线通信站，验证了所提DGVF控制器的有效性。
英文摘要：
This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated navigation whereas maneuvering along their prescribed paths. In particular, the DGVF controller provides a hierarchical architecture of an upper-level heterogeneous guidance velocity controller and a lower-level signal tracking regulator. Therein, the upper-level controller is to govern multiple heterogeneous USVs and UAVs to approach and maneuver along the prescribed paths and coordinate the formation simultaneously, whereas the low-level regulator is to track the corresponding desired guidance signals provided by the upper-level module. Significantly, the heterogeneous coordination among neighboring UAVs and USVs is achieved merely by the lightweight communication of a scalar (i.e., the additional virtual coordinate), which substantially decreases the communication and computational costs. Sufficient conditions assuring asymptotical convergence of the closed-loop system are derived in presence of the exponentially vanishing tracking errors. Finally, real-lake experiments are conducted on a self-established cross-domain heterogeneous platform consisting of three M-100 UAVs, two HUSTER-16 USVs, a HUSTER-12C USV, and a WiFi 5G wireless communication station to verify the effectiveness of the present DGVF controller.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
