AUV cooperative guidance method considering communication delay and period
This paper analyze the whole process of AUV guidance for two-dimensional maneuvering targets,which is divided into two phases,based on the consideration of hydroacoustic real-time communication delay and communication period,and carry out the residual time calculation based on the relative motion model,and design a two-phase coordinated guidance law with variable scale coefficients and time-varying speeds,and validate the stability of the model by using the Lyapunov finite time convergence principle,and simulate the whole process.The simulation results prove that the cooperat-ive guidance method has high accuracy,and the differences in the simulation results under different communication delays and periods are analyzed and studied,which show that the communication delay is the root cause of the fluctuation of para-meter regulation,while the communication period is the main factor affecting the speed of error convergence and the amp-litude of parameter fluctuation,and the larger the communication period is,the higher the mobility requirements for AUVs are.
万方数据
维普
