基于双层协调体系的多圆碟形AUG路径规划  

Path planning of multiple saucer-type AUGs based on a two-layer coordination system

作　　者：王浩亮[1] 孙定翔 马小轩 王丹 吴浩峻[1] WANG Haoliang;SUN Dingxiang;MA Xiaoxuan;WANG Dan;WU Haojun(Marine Engineering College,Dalian Maritime Univeristy,Dalian 116026,China;Marine Electrical Engineering College,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《哈尔滨工程大学学报》2023年第5期783-792,共10页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(61673081,51909021);国家重点研发计划重点专项(2016YFC0301500);辽宁省自然科学基金项目(博士科研启动计划)(2023-BS-155);辽宁省自然科学基金指导计划(20180550684);辽宁省教育厅高等学校基本科研项目(面上项目)(LJKZ0044);大连市科技局高层次人才创新项目支持计划(2020RQ013)。

摘　　要：为研究海流干扰和水下碍航物影响下欠驱动圆碟形水下滑翔机集群的三维路径规划问题。本文根据圆碟形水下滑翔机的设备配置和工作特点,建立了相应的能量消耗模型。提出了一种基于全局与局部双层协调的三维路径规划体系,采用最小一致偏差法完成了能耗最优目标下多圆碟形水下滑翔机的全局路径规划。根据避碰原则预测出全局路径中存在的航行危险碰撞区域,基于人工势场法进行局部路径规划,避免了滑翔机与碍航物以及不同优先级的滑翔机之间发生碰撞。仿真结果验证了所提基于双层协调体系的多圆碟形水下滑翔机三维路径规划方法的有效性。The purpose of this work is to study the three-dimensional path planning problem of multiple under-actuated saucer-type autonomous underwater gliders(AUGs)under the influence of ocean currents and underwater obstructions.First,a corresponding energy consumption model is established in accordance with the equipment configuration and working characteristics of saucer-type AUGs.Then,a three-dimensional path planning system based on global and local double-layer coordination is proposed.This system uses the biased min-consensus method to complete global path planning for multiple saucer-type AUGs with an energy consumption-optimal goal.Finally,the navigation dangerous collision area in the global path is predicted on the basis of the collision avoidance principle,and local path planning is performed in accordance with the artificial potential field method to avoid collision among AUGs with different priorities and underwater obstructions.Simulation results verify the effectiveness of the proposed three-dimensional path-planning method for multiple AUGs based on the double-layer coordination system.

关 键 词：水下滑翔机 双层协调体系 三维路径规划 人工势场法 能耗优化 碍航物 避障避碰 最小一致偏差法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]