Research on cooperative mission assignment and trajectory planning for unmanned underwater vehicles
In order to solve the problem of multi-UUVs cooperative path planning under weak communication condi-tions,this manuscript proposes a UUV cooperative path planning algorithm combining KM optimal matching and PSO op-timization method.This method does not need to rely on real-time underwater communication,and can generate feasible tra-jectories meet the kinematic constraints such as angular velocity and velocity of UUV according to the mission requirements.In addition,trajectory tracking algorithm based on the combination of virtual point and guidance method has been designed,and the hierarchical decoupling method has been used to solve the trajectory tracking control problem of UUV.Moreover,the artificial potential field method has been introduced to realize the dynamic obstacle avoidance of UUVs.Through the analysis of simulation results,the proposed method can effectively solve the problem of cooperative target allocation and simultaneous arrival control in multi-UUVs.
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