文献类型：期刊文献

中文题名：非结构复杂水域下多智能体协同避障污水监控

英文题名：Collaborative Obstacle Avoidance and Sewage Monitoring of Multiagent in Complex Unstructured Waters

作者：李干蓉 杨晓武

第一作者：李干蓉

机构：[1]铜仁职业技术大学工学院,贵州铜仁554300;[2]贵州理工学院人工智能与电气工程学院,贵州贵阳550025

第一机构：铜仁职业技术大学工学院,贵州铜仁554300

年份：2026

卷号：44

期号：1

起止页码：58-64

中文期刊名：机械与电子

外文期刊名：Machinery & Electronics

基金：教育部职业院校教育教指委中文专委会2025年度教育教学改革课题(2025JGYB081);铜仁市新型功能材料产教联合体项目(2222165)。

语种：中文

中文关键词：多智能体系统;污水监控;鲁棒控制;协同避障

外文关键词：multi agent systems;sewage monitoring;robust control;cooperative obstacle avoidance

摘要：针对非对称恶劣环境下的水域污水监控问题,提出一种基于多智能体系统的协同避障污水监控方法。该方法利用智能体之间的相对测量信息构建跟踪控制算法。设计基于一阶滤波器的鲁棒控制机制,保证智能体输入信号的平滑性和学习能力,有效解决未知水流和风力扰动问题。鉴于待测水域出现不可攀越的礁石,构建一种协同避障控制策略,保证智能体平滑绕过各类礁石,到达待测污水水域,不出现激烈输入信号。给出所提算法稳定性分析。最后,通过数值仿真结果验证所提算法的可行性。
Addressing the challenges of sewage monitoring in asymmetric and harsh aquatic environments,a collaborative obstacle avoidance sewage monitoring method based on a multi agent system is proposed.This method develops a tracking control algorithm utilizing relative measurement information among agents.A robust control scheme incorporating a first order filter is designed to ensure the smoothness of agent input signals and enhance learning ability,effectively compensating for unknown disturbances from water currents and wind.Considering the presence of non traversable rocky obstacles in the target water area,a collaborative obstacle avoidance control strategy is constructed,enabling the agents to smoothly bypass various obstacles and reach the sewage areas without generating intense control input signals.Stability analysis of the proposed algorithm is also provided.Finally,the feasibility and effectiveness of the proposed algorithm is verified by the results of numerical simulations.