水下机器人移动式对接的全局路径规划方法  

A global path planning method for mobile docking AUV

作　　者：朱子健[1,2] 姜言清 李柯垚[1,2] 孙伟杰 李舒畅 许健鑫 张文君 武皓微 ZHU Zijian;JIANG Yanqing;LI Keyao;SUN Weijie;LI Shuchang;XU Jianxin;ZHANG Wenjun;WU Haowei(Key Laboratory of Underwater Intelligent Robot Technology,Harbin Engineering University,Harbin 150001,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;Sanya Nanhai Innovation&Development Center,Harbin Engineering University,Sanya 572000,China;China Academy of Launch Vehicle Technology,Beijing 100076,China)

机构地区：[1]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [3]哈尔滨工程大学三亚南海创新发展基地,海南三亚572000 [4]中国运载火箭技术研究院,北京100076

出　　处：《哈尔滨工程大学学报》2024年第10期1873-1879,共7页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2021YFC2801300,2023YFC2810500);海南省科技计划三亚崖州湾科技城自然科学基金联合项目(520LH035);科工局稳定支持课题(JCKYS2022SXJQR-08);中央军委科学技术委员会重点实验室基金项目(2022JCJQ-SYSJJ-LB06907).

摘　　要：针对无人自主式水下机器人与母艇动态对接时面临的自主式水下机器人欠驱动操纵特性对全局路径的多几何约束要求,以及母艇运动带来的交会点动态变化导致路径的终端约束动态变化等难题,本文提出了一种自主式水下机器人的自主对接路径规划方法。该方法主要分为约束求解、运动规划和状态估计3部分。利用自主式水下机器人的动力学模型分析了在对接过程中的运动约束与终端约束;在运动约束和终端约束条件的前提下,基于势场法的思想分别设计了位置约束和姿态约束下的全局路径规划算法,同时提出母艇的位置、速度和姿态估计方法,并依此开展基于全局预测的路径规划方法的仿真。仿真结果表明:本文方法运算速度快、对母艇的状态具有很好的鲁棒性,并且满足运动约束和终端约束,可以在试验模拟真实自主式水下机器人归航时得到一条满足约束条件的光滑路径的路径规划算法。In view of the multiple geometric constraints on the global path caused by the autonomous underwater vehicle(AUV)under-actuation control characteristics when the AUV and the mother ship are dynamically docked,as well as the dynamic changes of the terminal constraints of the path caused by the dynamic changes of the intersection points caused by the mother ship movement,this paper proposes an autonomous docking path planning method for the AUV.The proposed method is mainly divided into three parts:constraint solving,motion planning and state estimation.Firstly,the motion constraints and terminal constraints in the docking process are analyzed using the AUV dynamics model;On the premise of motion constraints and terminal constraints,the global path planning algorithms under position constraints and attitude constraints are designed based on the idea of potential field method.At the same time,the position,speed and attitude estimation methods of the mother ship are proposed,and the simulation of the path planning method based on global prediction is carried out accordingly.The simulation results show that the method in this paper has fast operation speed,good robustness to the state of the mother ship,and meets the motion constraints and terminal constraints.It can obtain a path planning algorithm that satisfies the constraint conditions of a smooth path when testing and simulating the homing of a real AUV.

关 键 词：欠驱动自主式水下机器人 移动式对接 回收 全局预测 路径规划 状态约束 状态估计 人工势场法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]