中文摘要：

针对在大范围海域完成搜索和侦察任务的多自主水下航行器（Multiple AUV,MAUV）系统,提出一种MAUV控制系统的体系结构和编队航路点跟踪控制算法。控制系统采用分层递阶体系结构,包含任务规划层、控制协调层、运动控制层和执行控制层。而编队控制算法则采用＂领航者-跟随者＂法,基于横向跟踪控制,领航者沿连接航路点的直线运动,而跟随者则以一定的横向队形,平行于领航者航路运动,并通过速度调节实现纵向的队形控制。采用该编队控制方法,跟随者仅需要获得领航者的坐标即可实现编队控制,极大地降低了AUV之间的通讯要求,仿真结果验证了该系统的有效性。

英文摘要：

The coordinative control system architecture and way-point tracking formation control algorithm are proposed for the multiple autonomous underwater vehicle（MAUV） system with wide area searching and survey tasks.The control system is organized with a layered hierarch architecture consisting of the mission planner,the coordinator,the motion controllers,and the executor controllers.The formation control algorithm is designed based on the cross-tracking control within a leader-follower framework.The leader AUV moves along the straight line connecting the sequential two way-points,while the each follower is steered to track the parallel lines with the expected separations,and adjusts its velocity to maintain the desired distance to the leader along the desired straight path. So the followers merely have to know the global coordinates of the leader,which means the minimized communication need between the AUVs.The simulations have demonstrated the validity of the MAUV formation control scheme.