一种无人水面艇自主动态避碰跟踪控制方法

doi:10.16182/j.issn1004731x.joss.201810023

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (10): 3781-3788.doi: 10.16182/j.issn1004731x.joss.201810023

一种无人水面艇自主动态避碰跟踪控制方法

范云生, 孙晓界, 王国峰, 郭晨

大连海事大学船舶电气工程学院, 辽宁大连 116026

收稿日期:2016-08-11 修回日期:2017-01-15 出版日期:2018-10-10 发布日期:2019-01-04
作者简介:范云生(1981-),男,辽宁丹东,博士,副教授,硕导,研究方向为无人船舶建模与控制、自主航行器的协同控制等。
基金资助:
国家自然科学基金(61374114,51609033),辽宁省自然科学基金(2015020022),; 中央高校基本科研业务费专项基金(3132016022)

Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle

Fan Yunsheng, Sun Xiaojie, Wang Guofeng, Guo Chen

School of Marine Electrical Engineerin, Dalian Maritime University, Dalian 116026, China

Received:2016-08-11 Revised:2017-01-15 Online:2018-10-10 Published:2019-01-04

摘要/Abstract

摘要： 为解决“蓝信”号无人水面艇在未知海洋环境下的动态自主避碰跟踪控制问题,将未知动态避碰路径规划和跟踪控制相结合,提出了一种未知海洋环境下的无人水面艇动态自主避碰跟踪控制方法。此方法考虑到未知海洋环境情况以及动态避障的实时性等问题,以“蓝信”号无人水面艇的操纵运动模型为约束条件,采用了一种基于速度分解的动态障碍物避障算法,设计了一种未知海洋环境下的“蓝信”号水面无人艇动态自主避碰跟踪控制器。仿真结果验证了该方法的有效性和正确性,可为“蓝信”号无人水面艇智能避碰控制技术的研究提供参考。

关键词: 无人水面艇, 动态避碰, 路径规划, 跟踪控制

Abstract: To solve the dynamic tracking control of autonomous avoidance problem of the ＂Lanxin＂ Unmanned Surface Vehicle (USV) in the unknown ocean environment, by combining the unknown dynamic collision avoidance path planning and tracking control, a dynamic tracking control of autonomous avoidance method in the unknown ocean environment is presented. In this method, in consideration of the unknown ocean environment and real time dynamic obstacle avoidance, using a dynamic obstacle avoidance algorithm based on the velocity decomposition, a dynamic autonomous avoidance controller based on USV experimental platform is designed. Simulation results show that the method is effective and accurate, and it also can provide the reference for “Lanxin” USV intelligent collision avoidance control technology.

Key words: Unmanned Surface Vehicle, dynamic collision avoidance, path planning, tracking control

中图分类号:

TP391.9

范云生, 孙晓界, 王国峰, 郭晨. 一种无人水面艇自主动态避碰跟踪控制方法[J]. 系统仿真学报, 2018, 30(10): 3781-3788.

Fan Yunsheng, Sun Xiaojie, Wang Guofeng, Guo Chen. Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle[J]. Journal of System Simulation, 2018, 30(10): 3781-3788.

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一种无人水面艇自主动态避碰跟踪控制方法

Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle

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