A multiple agents'encirclement control method with collision avoidance and obstacle avoidance based on potential game theory
In view of the difficulty and uncertainty of multiple underactuated underwater vehicle(UUV)capture control,this paper proposed a capture control algorithm based on potential game theory.This algorithm inherited the simplicity and convergence characteristics of game theory,and the adaptive learning feature made the algorithm robust and autonomous.At the same time,the algorithm also considered the collision avoidance problem between multiple UUVs,the obstacle avoidance problem between UUVs and circular obstacles in the environment,and the anti pursuit and anti encirclement strategy for escaping UUVs.On this basis,combined with line of sight navigation,a UUV path point tracking controller was designed.Based on Lyapunov stability theory and adaptive backstepping iterative design method,precise tracking control of UUV speed,heading,and distance has been achieved.At the same time,the simulation results also verified the effectiveness of the encirclement algorithm.This method not only solved the problem of encirclement control,but also solved the problem of collision and obstacle avoidance control,and had engineering application value.
underactuated underwater vehiclespotential gameencirclement controlcollision avoidance and obstacle avoidance
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维普
