基于动态安全领域的水下机器人近底应急决策  

Seabed collision emergency decision-making of AUV based on safety domain model

作　　者：安金鑫 杨少龙 向先波[1] 董东磊 AN Jinxin;YANG Shaolong;XIANG Xianbo;DONG Donglei(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074

出　　处：《中国舰船研究》2023年第2期184-193,共10页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(52071153);中央高校基本科研业务费专项资金资助项目(2018KFYYXJJ015,2021yjsCXCY007)。

摘　　要：[目的]为了保障复杂未知环境下自主式水下机器人(AUV)的安全,防止意外触底,提出AUV近底动态安全领域模型,建立分级应急响应措施。[方法]建立AUV垂直面运动模型并通过超越试验对比验证,求解主动安全领域及被动安全领域距离,建立AUV近底航行动态安全领域模型,基于该模型设计AUV应急控制系统与应急策略。基于实时纵倾和对底高度状态,计算当前及未来危险系数,通过分配权重系数求得综合危险系数,用于指导AUV应急响应决策。[结果]通过分析湖试定深和定高航行试验,当河床高度相距AUV主动安全领域边界较近时,综合危险系数与河床高度的相关性较强,反之则较弱。结果表明,AUV应急控制系统在起伏地形下作业时能减少应急决策虚警,而在近底航行作业时又能减少应急决策漏警,从而实现在复杂起伏地形下近底航行时的合理应急决策。[结论]基于垂直面运动方程建立的近底安全领域模型与应急响应策略能够用于AUV水下航行近底危险实时预测,可提高AUV水下自主航行的安全性。[Objectives]To ensure safety and prevent seabed collisions in complex unknown underwater environments,this study proposes a seabed safety domain model and tiered emergency response strategies.[Methods]A vertical motion simulation model is established and verified by surpassing the test results,then used to calculate the active and passive safety domain distance of an autonomous underwater vehicle(AUV),thereby establishing a seabed safety domain model.An AUV emergency control system and emergency strategies are then built on the basis of the dynamic safety domain model.The trim and distance from the seabed of the AUV are used to calculate the current and future risk factors.Based on the weighted sum,the comprehensive risk factor is employed to provide the AUV with emergency response strategies.[Results]Lake tests with the AUV sailing at a fixed depth and height show a strong dependency of the comprehensive risk coefficient on seabed height when it is close to the boundary of the AUV's active safety domain.In the opposite case,there is a weak dependency of the comprehensive risk coefficient on seabed height.The results show that the proposed AUV emergency control system can reduce emergency false alarms caused by frequently changing riverbed heights and sailing altitudes close to the seabed.In such cases,reasonable emergency strategies can be realized under complex rough terrain.[Conclusions]The AUV seabed safety domain model and tiered emergency response strategies based on vertical motion equations proposed herein can be applied to evaluate seabed collision risk in various cases.Finally,this paper provides emergency response strategies to avoid seabed collision accidents,which can enhance the safety of AUV navigation.

关 键 词：自主式水下机器人 安全领域模型 近底避险 应急决策 

分 类 号：U674.941[交通运输工程—船舶及航道工程]