基于感知信息的USV目标环绕跟踪方法  

Target Surround Tracking Method of USVs Based on Perception Information

作　　者：宋吉广 李德隆[1,2] 冯亮 刘阳[1,2] 林扬[1,2] 孙铁铭[1,2] SONG Jiguang;LI Delong;FENG Liang;LIU Yang;LIN Yang;SUN Tieming(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,110169,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110169

出　　处：《水下无人系统学报》2023年第5期696-702,共7页Journal of Unmanned Undersea Systems

摘　　要：无人水面艇(USV)作为一种智能水面工具,可实现航行控制、水面目标识别与感知等基本功能,但伴随着工程需求的多元化,如水面失事货轮、未知船只特征识别、失事飞机等搜救探测任务,该基本功能已无法完成任务,因此需要开展一种可对目标进行稳定跟踪并完成360°环视的方法研究。文中提出一种基于感知目标信息,通过对目标环绕跟踪,实现目标检测的方法。在对感知信息进行目标运动状态估计后,采用虚拟目标点跟踪算法计算出期望航向及速度,通过航向控制器及速度控制器实现对USV的位姿控制,同时加入重规划跟踪策略,以适应水面复杂环境并感知设备提供信息的误差扰动。以USV模型辨识方法获得模型并搭建仿真平台进行仿真验证,通过实航试验测试证明该算法设计的合理性。Unmanned surface vehicle(USV),as an intelligent surface tool,can realize basic functions such as navigation control,as well as surface target recognition and perception.However,with the diversification of engineering requirements,such as search and rescue missions oriented to wrecked freighter,unknown ship feature recognition,and wrecked aircraft,these basic functions fail to complete the task.Therefore,it is necessary to develop a method to track the target stably and complete 360-degree scanning.In this paper,based on the perceptual target information,a target surround tracking method was proposed for target detection.After estimating the target motion state from the sensing information,the virtual target point tracking algorithm was used to calculate the desired heading and velocity.The heading controller and speed controller were used to control the position and attitude of the USV.At the same time,a re-planning and tracking strategy was added to adapt to the complex environment of the water surface and the error disturbance of the information provided by the sensing equipment.The USV model identification method was used to obtain the model and build a simulation platform for simulation verification.The actual flight test proves the rationality of the algorithm design.

关 键 词：无人艇 感知信息 目标环绕跟踪 目标运动状态估计 虚拟目标点跟踪算法 重规划跟踪策略 

分 类 号：U674.91[交通运输工程—船舶及航道工程] TJ630.64[交通运输工程—船舶与海洋工程]