一种自主/遥控水下机器人共享控制方法  

A Shared Control Method for Autonomous and Remotely Operated Underwater Vehicle

作　　者：王兴华 田宇[1,2] WANG Xing-hua;TIAN Yu(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016 [3]中国科学院大学,北京100049

出　　处：《机械设计与制造》2021年第8期281-285,共5页Machinery Design & Manufacture

基　　金：国家重点研发计划项目课题(2016YFC0300801);国家自然科学基金项目(41376110,61673370);中国科学院青年创新促进会项目(2016185)。

摘　　要：结合自主控制和操作人员遥控的共享控制是自主/遥控水下机器人(Autonomous and Remotely operated underwater Vehicle,ARV)研究的重要问题。面向ARV的环境探索任务,针对ARV艏向角的共享控制,提出一种基于多目标优化的共享控制方法。根据服从操作人员控制意图、提升ARV安全性、降低操作人员操作复杂性并优化ARV运动路径的要求,将ARV艏向角控制命令作为决策变量,分别设计了服从度、自主度和稳定度三个目标函数;根据栅格地图表示的局部环境中障碍物的分布信息设计了艏向角控制命令的安全性评估函数,并由安全性评估函数确定约束条件;根据目标函数和约束条件将ARV艏向角的共享控制转化为多目标优化问题,并使用最小最大法求解以得到最优的共享控制命令。基于研发的ARV共享控制仿真环境对提出的方法进行了计算机仿真和评估,验证了所提出的方法的有效性。Shared control which integrates control commands from autonomous control systems and human operators is an important issue in the research on Autonomous and Remotely operated underwater Vehicles(ARVs).It proposes a multi-objective optimization based shared control method to control an ARV’s heading angle in an environmental exploration task.In this method,three objective functions including Obedience,Autonomy and Stability are designed,to meet the presented sub-goals of optimization in the task,including improving the obedience of the ARV to human-control’s intention,the ARV’s safety in environments with obstacles,and the easiness of human control and smoothness of ARV’s motion path,respectively.These objective functions take the control command of ARV’s heading angle to be optimized as variable and evaluate the respective performance.This method also incorporates a designed Security function,which determines the feasible control commands of ARV’s heading angles along which the ARV moves will not collide with obstacles represented in an occupancy grid map.The objective functions and the Security function which acts as a constraint condition together defines the multi-objective optimization problem and the minimax method is employed to solve the problem to obtain the optimal control command of ARV’s heading angle.The proposed shared control method is implemented and evaluated in a developed computer simulation environment,and the results demonstrate its effectiveness.

关 键 词：水下机器人 共享控制 多目标优化 避碰 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]