波浪滑翔器编队避障方法

波浪滑翔器是一种可以长期工作的新型海洋机器人，主要应用于海洋环境的探测与数据采集。波浪滑翔器编队可以扩展单台设备的能力，同时提高任务的效率。利用领航跟随者法结合人工势场法，提出了多波浪滑翔器编队避障方法。通过领航跟随者形成波浪滑翔器编队的同时引入间距势能场，来实现编队队形的保持。人工势场作用下的波浪滑翔器编队被视为一个虚拟的多体系统，受到来自人工势场的虚拟力的约束。针对人工势场法的局部最小域问题，引入沿障碍物切线方向的引力，打破平衡状态，解决了局部最小域问题。最后通过仿真实验验证了所提方法的有效性。

Obstacle Avoidance Method of Wave Glider Formation

Wave glider, as a new class of marine robots that can work for a long time, is mainly used in marine environment for detection and data collection. The formation of wave gliders can expand the capacity of a single device while increasing the efficiency of the mission. In this paper, an obstacle avoidance method for the formation of multi-wave gliders is proposed by using the leader-follower method combined with the artificial potential field method. The formation of wave gliders can be formed and maintained by leading the followers and introducing the spacing potential energy field. The formation of wave gliders under the action of the artificial potential field is regarded as a virtual multi-body system, which is constrained by the virtual force from the artificial potential field. Aiming at the local minimum domain problem of the artificial potential field method, the gravitational force along the tangent direction of the obstacle is introduced to break the equilibrium state, which solves the local minimum domain problem. Finally, the effectiveness of the proposed method is verified by simulation experiments.