动态传递优先权的多AUV避碰规划方法  

Study on Dynamic Transfer Priority in Multi-AUV Collision Avoidance Planning

作　　者：严浙平[1] 王爱兵 湛鑫[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨船舶锅炉涡轮机研究所,黑龙江哈尔滨150036

出　　处：《中国造船》2008年第1期66-71,共6页Shipbuilding of China

基　　金：黑龙江省博士后科研启动金资助(LHK-04010)

摘　　要：以刚体运动的动量和动量矩定理为基础,建立了AUV的空间四自由度运动的数学模型,基于消息的通讯机制,采用动态优先权策略成功地解决了AUV编队航行过程中的避碰避障问题,并建立了环境仿真器,进行了多AUV协调避碰仿真实验,效果良好,验证了算法的有效性。This paper builds up mathematical model of 4 degrees of freedom in AUV space, in accordance with theorem of momentum and moment of momentum for rigid body motion. Based on information communication system, dynamic priority policy is adopted to solve the problem of collision avoidance successfully in the process of AUV formation navigation. Then setting emulator is built up and the validity of algorithmic is tested by experiment of multi-AUVs coordination collision avoidance. The conclusion is satisfying.

关 键 词：船舶 舰船工程 多AUV 信息交互 优先权 动态 仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] U674.941[自动化与计算机技术—控制科学与工程]