非结构复杂水域下多智能体协同避障污水监控OA

Addressing the challenges of sewage monitoring in asymmetric and harsh aquatic environ-ments,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 a-mong agents.A robust control scheme incorporating a first-order filter is designed to ensure the smooth-ness 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 sig-nals.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.