自主水下航行器离散反馈避碰设计及仿真  

Design and Simulation for AUV's Discrete Feedback Control of Obstacle Avoidance

作　　者：金久才[1,2] 张杰[3] 王岩峰[3] 官晟[3] 

机构地区：[1]中国科学院海洋研究所,山东青岛266071 [2]中国科学院研究生院,北京100049 [3]国家海洋局第一海洋研究所,山东青岛266061

出　　处：《海洋技术》2009年第3期1-4,共4页Ocean Technology

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA09A307);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(2008T29)

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。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 circulation in the designed time of simulation. Finally, several simulation cases of obstacle avoidance are brought out under different currents and heights of rectangular obstacles. Feasibility and reasonability of the algorithm is proved by the simulation results.

关 键 词：自主水下航行器 离散反馈 避碰 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP391.9[自动化与计算机技术—控制科学与工程]