基于粒子群优化-人工势场的多AUV拦截技术研究  

Research on Multi-AUV Interception Technology Based on Particle Swarm Optimization-Artificial Potential Field Method

作　　者：孙兵[1] 戚国亮 张威 孟祥巧 SUN Bing;QI Guoliang;ZHANG Wei;MENG Xiangqiao(Shanghai Engineering Research Center of Intelligent Maritime Search&Rescue and Underwater Vehicles,Shanghai Maritime University,Shanghai 201306,China;College of Electrical Engineering,Shanghai Dianji University,Shanghai 201306,China)

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 [2]上海电机学院电气学院,上海201306

出　　处：《控制工程》2024年第5期769-777,共9页Control Engineering of China

基　　金：国家自然科学基金面上项目(52271321,61873161);上海市青年科技启明星计划项目(20QA1404200);上海市自然科学基金资助项目(22ZR1426700)。

摘　　要：在复杂多变的水下环境中,针对港口等环境下的运动入侵目标的拦截问题,提出了一种新的多自主水下机器人(autonomous underwater vehicle,AUV)拦截算法——预测规划拦截法。首先,通过AUV和入侵目标的运动轨迹,依据拦截点思想快速简单地确定拦截位置,对三维环境下拦截点难以计算的问题采用粒子群优化算法选择最优拦截点,有效降低拦截距离。其次,利用人工势场法规划每个AUV在海流环境下的拦截路径。当目标物被环境中任意一个AUV拦截时,则认为拦截成功。仿真结果表明,在存在海流、障碍物的不同水下环境中,预测规划拦截法的拦截效率较传统的跟踪拦截法有较大的提升。In the complex and changeable underwater environment,a new algorithm of multiple autonomous underwater vehicles(AUV),called predictive planning interception method,is proposed to intercept moving objects in ports and other environments.Firstly,the interception position can be quickly and simply determined according to the idea of interception point through the motion trajectory of AUV and invading target,which can effectively reduce the interception distance.In particular,particle swarm optimization algorithm is used to select the optimal interception point for the problem that it is difficult to calculate interception points in three-dimensional environment.Secondly,the artificial potential field method is used to plan the intercepting path of each AUV under ocean current environment.When the target object is intercepted by any AUV in the environment,the interception is considered successful.The simulation results show that the interception efficiency of the predictive planning interception method is better than that of the traditional tracking interception method in different underwater environments with ocean currents and obstacles.

关 键 词：自主水下机器人 预测规划拦截 路径规划 粒子群优化 人工势场 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]