未知环境下UUV动态目标跟踪导引方法  

Dynamic Target Tracking Guidance Method for UUV in Unknown Environment

作　　者：李娟[1,2] 张建新[1] 杨莉娟 严浙平 LI Juan;ZHANG Jian-xin;YANG Li-juan;YAN Zhe-ping(College of Automation,Harbin Engineering University,Harbin 150001,China;Science and Technology on Underwater Vehicle Technology,Harbin Engineering University,Harbin 150001,China;JiangNan Shipbuilding(Group) Co. Ltd. Shanghai 201913,China)

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]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001 [3]江南造船(集团)有限责任公司,上海201913

出　　处：《水下无人系统学报》2019年第3期290-296,共7页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金(51609046);中央高校基金(HEUCFM170403);水下机器人技术重点实验室研究基金资助(614221502061701)

摘　　要：针对未知动态环境下无人水下航行器(UUV)对随机动态目标的跟踪问题,提出了一种跟踪与避碰切换导引策略。在建立目标与UUV、障碍物与UUV相对运动学关系的基础上,考虑UUV运动控制中航速和航向角速度的饱和约束条件,以UUV航行安全性和跟踪精度为目标,利用李雅普诺夫方法完成了基于视线导引切换的动态目标跟踪与避碰策略设计。对所设计的导引方法进行了仿真试验,实现了在静态障碍物和动态障碍物2种状态下对运动目标的跟踪且满足跟踪精度的要求,验证了所提出的跟踪与避碰切换导引策略的有效性。For the random dynamic target tracking problem of unmanned undersea vehicle(UUV)in unknown environment, a tracking and obstacle avoidance switching guidance strategy is proposed. The relative kinematics relation between target and UUV, as well as target and obstacle, is established, and the saturation constraint condition of speed and angular velocity in UUV motion control is taken into account. Lyapunov method is then used to complete the design of dynamic target tracking and obstacle avoidance strategy based on line of sight switching guidance in order to meet UUV navigation safety and tracking accuracy. Numerical simulation with the proposed method is carried out, and the results show that the tracking precision meets the requirement in both static and dynamic obstacle environments, verifying the correctness and feasibility of the tracking and obstacle avoidance switching guidance strategy.

关 键 词：无人水下航行器 目标跟踪 避碰 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] U674.941[交通运输工程—船舶及航道工程]