混合仿人智能图式的无人艇自主驾控系统设计  

Design of the autonomous pilot system for the unmanned surface vehicle based on the hybrid human simulated intelligent schema

作　　者：吴恭兴 万磊 邹劲 庄佳园 廖煜雷 

机构地区：[1]哈尔滨工程大学水下智能机器人技术国防科技重点实验室,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2010年第12期1647-1654,共8页Control Theory & Applications

基　　金：国防"973"计划资助项目(61311101);国家自然科学基金资助项目(50579007);水下智能机器人技术国防科技重点实验室开放基金资助项目(2008001)

摘　　要：针对高度动态、不可预测的海洋环境,开展了无人艇智能运动控制系统的设计研究.首先本文利用认知学科的"图式"概念来分析人体运动控制系统的结构,提出一种混合式分层递阶结构,把人类的先验知识、专家经验融入到该结构中,并在实践中不断学习和完善,则形成了一种混合仿人智能图式;然后根据该图式的思想,设计了自主驾控系统的体系结构,并编制成简单实用、逻辑性强、能实时运行的控制流程;最后进行了无人艇的航线跟踪和安全自主航行的半实物仿真试验,仿真结果表明该无人艇可以安全的避开其他船舶并尽量跟踪航线.We study the intelligent motion control system for the unmanned surface vehicle（USV） in high-dynamic uncertain ocean environment.Firstly,the structure of human motion control system is analyzed by using the ’schema’ concept in the cognize domain;the concept of hybrid hierarchical structure is proposed.If the structure has human a priori knowledge and expert experience which are developed in practice,then it will evolve into a hybrid human-simulated intelligent schema.According to this human-simulated intelligent structure,the autonomous pilot system for USV is designed.The control flow is programmed,which is practically applicable,logically structured and real-time operative.Finally,the semi physical simulation tests for the USV course tracking and the safe autonomous-pilot are carried out.Simulation results show that the USV safely keeps away from other ships and tracks the course.

关 键 词：自主驾控 仿人智能图式 混合式分层递阶结构 无人艇 协商式避碰 反应式避碰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]