人工势场法在航道测量中的应用  

Application of the Artificial Potential Fields in the Hydrographic Measurement

作　　者：史艳霞[1] 贾贵玺[2] 董宏超 

机构地区：[1]天津中德职业技术学院电气与能源学院,天津300350 [2]天津大学智能电网实验室,天津300072

出　　处：《华侨大学学报（自然科学版）》2015年第5期581-586,共6页Journal of Huaqiao University(Natural Science)

基　　金：国家海洋专项基金资助项目(GHME2010ZC09)

摘　　要：为实现航道精准测量、自主避障、寻找最优路径等,提出一种将人工势场法与比例-积分-微分(PID)控制相结合的导航算法.通过全球定位系统(GPS)得到试验系统设计测量船的位置信息,利用导航算法得到的舵机角度偏差产生脉冲宽度调制(PWM)信号,经由功率放大等装置驱动伺服电机,带动测量船舵机向预定的方向偏转.通过C语言及串口通信技术实现上下位机通信,实时获得测量船参数信息及航迹图像.试验结果表明:设计的导航算法满足高精度、完全自主的要求,可广泛应用于内陆航道及水库测量工程中.In order to realize accurate survey of channel,automatically avoiding obstacle,finding the optimal route et al,a navigational algorithm that combines artificial potential fields（APF）with proportional-integral-differential（PID）controller was put forward.Through the global positioning system（GPS）to get the location of the survey ship,using the error of electric steering gear angle controlling the pulse-width-modulation（PWM）signal,and driving servo motor by power amplifying device,the electric steering gear can be turned rightly.The C language and strings mouth communication technology are used to realize the communication between the upper and lower computer,and the parameter information and track images of ship are obtained in real-time.The experiment results show that the new navigational algorithm can meet the requirements of high accuracy and complete independency,and can be widely used in fairway surveying engineering.

关 键 词：导航算法 人工势场法 比例-积分-微分控制 全球定位系统 测量船 

分 类 号：U612.23[交通运输工程—船舶及航道工程]