自主式水下机器人分层规划与重规划  

Hierarchical planning and re-planning of autonomous underwater vehicle

作　　者：张汝波[1,2] 吴俊伟[1] 刘冠群[1] 刘海涛[2] 

机构地区：[1]大连民族学院机电信息工程学院,辽宁大连116600 [2]哈尔滨工程大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期77-80,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60975071);大连民族学院人才引进科研启动基金资助项目

摘　　要：为提高自主式水下机器人(AUV)在复杂环境、任务多变及通信受限等恶劣条件下的自适应性、自处理能力和自身安全可靠性,首先,针对不同层次分别研究了基于与或分解树的使命规划、基于有限状态机的任务规划和基于插入删除调整的行为规划方法;然后,设计了分层重规划监督决策的具体算法;最后,通过相关实验,验证了所设计的分层体系结构及其分层规划与分层重规划监督决策方法,能明显提高AUV自主任务完成效果和满足不确定事件自处理时的时效性要求.In order to improve the adaptability,self-processing capacity and safety reliability of autonomous underwater vehicle(AUV)in the complex environment,the mission planning based on the andor decomposition tree,task planning were studied and designed based on the finite state machine and behavior planning based on the insert or delete adjustment for different levels.Then,the algorithm of hierarchical re-planning and supervision decision were designed.Finally,the related experiment showes that the designed hierarchical architecture,planning and re-planning supervision or decision methods can significantly improve the task effect of AUV and meet the requirements of times in processing the uncertain events.

关 键 词：水下机器人 体系结构 分层规划 重规划 监督决策 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]