| 自主水下航行器离散反馈避碰设计及仿真 |
| |
| 引用本文： | 金久才,张杰,王岩峰,官晟.自主水下航行器离散反馈避碰设计及仿真[J].海洋技术,2009,28(3). |
| |
| 作者姓名： | 金久才 张杰 王岩峰 官晟 |
| |
| 作者单位： | 1. 中国科学院海洋研究所,山东,青岛,266071;中国科学院研究生院,北京,100049
2. 国家海洋局第一海洋研究所,山东,青岛,266061 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划)资助项目，国家海洋局第一海洋研究所基本科研业务费专项资金项目 |
| |
| 摘 要： | 为了使自主水下航行器(AUV)避碰仿真更接近实际情况,在离散时间系统中考虑海流作用,设计了AUV反馈避碰算法.针对海底探测AUV的运行特点,考虑海流作用,建立AUV垂直平面的状态空间方程.在每一个离散时间节点.利用障碍物高度信息,计算下一时刻AUV的深度目标值.然后利用反馈控制方法对其响应,在仿真时间内不断循环完成避碰仿真.对不同流场下不同高度的矩形障碍物,进行了避碰仿真.仿真结果证明了系统的可行性和合理性.
|
| 关 键 词： | 自主水下航行器 离散反馈 避碰 |
Design and Simulation for AUV's Discrete Feedback Control of Obstacle Avoidance |
| |
| JIN Jiu-cai,ZHANG Jie,WANG Yan-feng,GUAN Sheng.Design and Simulation for AUV's Discrete Feedback Control of Obstacle Avoidance[J].Ocean Technology,2009,28(3). |
| |
| Authors: | JIN Jiu-cai ZHANG Jie WANG Yan-feng GUAN Sheng |
| |
| Institution: | JIN Jiu-cai1,2,ZHANG Jie3,WANG Yan-feng3,GUAN Sheng3(1.Institute of Oceanology,Chinese Academy of Sciences,Qingdao Shandong 266071,China,2.Graduate University of the Chinese Academy of Sciences,Beijing 100049,3.The First Institute of Oceanography,State Oceanic Administration,Qingdao Shandong 266061,China) |
| |
| Abstract: | Considering the current,an obstacle avoidance algorithm of AUV is developed using feedback control in discreet time system for applying in real situation.For sea bottom exploring AUVs,the AUV's equations of state space are presented under current environments in vertical plane.The depth of next step is calculated depending on obstacle heights in every discrete time node.The depth is then responded by the feedback control algorithm and the obstacle avoidance simulation will be finished through the same circu... |
| |
| Keywords: | autonomous underwater vehicle discrete feedback obstacle avoidance |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
