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Coordinated path-following of multiple underactuated autonomous vehicles with bidirectional communication constraints

机译：具有双向通信约束的多个欠扰动自治车辆的协调路径

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This paper addresses the problem of steering a group of underactuated autonomous vehicles along given spatial paths, while holding a desired inter-vehicle formation pattern. For a general class of vehicles moving in either two or three-dimensional space, we show how Lyapunov-based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account. Path-following for each vehicle amounts to reducing the geometric error to a small neighborhood of the origin. The desired spatial paths do not need to be of a particular type (e.g., trimming trajectories) and can be any sufficiently smooth curves. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information on the positions and speeds of a subset of the other vehicles, as determined by the communications topology adopted. We illustrate our design procedure for underwater vehicles moving in three-dimensional space. Simulations results are presented and discussed.
机译：本文涉及沿着给定的空间路径转向一组欠抗动的自治车辆的问题，同时保持所需的车辆间形成模式。对于在两个或三维空间移动的一般车辆中，我们展示了基于Lyapunov的技术和图形理论如何聚集在一起，以产生分散的控制结构，其中配合车辆的动态和拓扑结构所施加的约束在车间通信网络中明确考虑在内。对于每个车辆的路径跟随，以将几何误差降低到原点的小邻域。所需的空间路径不需要具有特定类型（例如，修剪轨迹），并且可以是任何足够平滑的曲线。通过根据所采用的通信拓扑确定的关于其他车辆的子集的位置和速度的信息来调节每辆车的速度来实现车辆协调。我们说明了我们在三维空间中移动的水下车辆的设计程序。介绍和讨论了模拟结果。

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