基于模型预测控制的水下机器人动态目标跟踪控制  

Underwater dynamic target tracking control of underwater vehicles based on model predictive control

作　　者：魏亚丽 朱大奇[1] 褚振忠[1] Wei Yali;Zhu Daqi;Chu Zhenzhong(Shanghai Engineering Research Center of Intelligent Maritime Search & Rescue and Underwater Vehicles, Shanghai Maritime University, Shanghai 201306)

机构地区：[1]上海海事大学智能海事搜救与水下机器人上海工程技术研究中心,上海201306

出　　处：《高技术通讯》2020年第6期606-614,共9页Chinese High Technology Letters

基　　金：上海市科技创新行动计划(18JC1413000,18DZ2253100)资助项目。

摘　　要：针对水下动态目标跟踪问题,研究了基于模型预测控制(MPC)的水下机器人跟踪控制方法。首先,对于多波束前视声纳图像所采集的图像,通过滤波去噪、阈值分割及特征提取处理,得到动态跟踪目标的位置信息;然后构建无迹卡尔曼滤波器预测动态目标的轨迹信息,通过与卡尔曼滤波器对比,体现了无迹卡尔曼滤波对动态目标预测结果的准确性;最后,应用模型预测控制器实现对动态目标的水下跟踪,解决了反步控制算法中速度超限的问题,使跟踪结果更加稳定可靠。实验与仿真表明所提动态目标跟踪控制方法有效可行。Aiming at the underwater dynamic target tracking problem,the underwater vehicle tracking control method based on model predictive control(MPC)is studied.Firstly,for the image collected by the multi-beam forward-looking sonar image,the position of the dynamic target can be obtained by filtering,denoising,threshold segmentation and feature extraction.Then unscented Kalman filter is constructed to predict trajectory information of dynamic target.Compared with ordinary Kalman filter,its accuracy of dynamic target prediction is increased.Finally,underwater tracking of dynamic target is realized by using the model predictive controller,the problem of speed overshoot in backstepping control algorithm is solved,and the tracking result is more stable and reliable.Through experiment and simulation,the proposed underwater dynamic target tracking control method is proved to be effective and feasible.

关 键 词：水下机器人 跟踪控制 模型预测控制(MPC) 动态目标 前视声纳 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]