有限视域与多元约束下大型AUV三维高速避障方法  

High-speed 3D obstacle avoidance method for large-scale AUVs under limited field of view and multiple constraints

作　　者：李祥弘 于林 苏婧 乔磊 LI Xianghong;YU Lin;SU Jing;QIAO Lei(School of Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200240

出　　处：《中国舰船研究》2025年第1期181-190,共10页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(52101365);中国科协青年人才托举工程资助项目(2021QNRC001);上海市青年科技英才扬帆计划资助项目(21YF1419800);中核集团“领创科研”项目;中核集团“青年英才”科研项目。

摘　　要：[目的]针对现有自主水下航行器(AUV)避障研究主要聚焦于中小型AUV低速避障,并且过于简化系统内外多元约束的问题,提出一种大型AUV实时三维高速避障方法。[方法]所提方法融合感知、规划和控制模块,确保大型、高速、欠驱动AUV能在未知非结构化海底地形安全高效航行。首先,构建以机器人为中心的双分辨率海底地形图,以平衡感知精度和计算效率。其次,设计包含滤波器、特征提取与匹配的动态感知框架,实现对未知移动障碍物运动的预测。然后,通过结合全局考虑风险的路径搜索和局部时空联合的轨迹优化,生成满足多元约束的激进轨迹。最后,采用球坐标系反馈控制器进行轨迹跟踪。[结果]在长航程海床高速跨越的高保真实验中,长度为13.96m的大型AUV能够灵活躲避动静态障碍物,并遵守多元约束,同时全航程维持6.0m/s的预设速度。[结论]所提方案可使大型高速AUV在有限视域和多元约束下,安全避障且敏捷航行,有效提升其自主作业能力。[Objectives]Considering that existing research on autonomous underwater vehicle(AUV)obstacle avoidance mainly focuses on low-speed obstacle avoidance for small and medium-sized AUVs and overly simplifies the diverse constraints within and outside the system,a real-time three-dimensional highspeed obstacle avoidance method for large AUVs is proposed.[Methods]The method integrates perception,planning,and control modules,enabling large-scale,high-speed,underactuated AUVs to navigate safely and efficiently through the unknown and unstructured ocean floor.First,a robocentric dual-resolution seafloor map is constructed to balance perception accuracy with computational efficiency.Next,a dynamic perception framework incorporating filters and feature extraction and matching is designed to achieve the motion prediction of unknown moving obstacles.Subsequently,global risk-aware path searching and local spatial-temporal trajectory optimization are introduced to generate an aggressive trajectory that satisfies multiple constraints.Finally,a spherical-coordinate feedback controller is employed for trajectory tracking.[Results]In highfidelity experiments involving long-range seabed traversal,a 13.96-meter-long AUV flexibly avoids dynamic and static obstacles while adhering to the constraints,maintaining a predefined speed of 6.0 m/s.[Conclusions]The proposed approach enables the large-scale high-speed AUV to navigate agilely and avoid obstacles safely under limited field of view and multiple constraints,enhancing its operation capabilities.

关 键 词：自主水下航行器 避障 运动规划 有限视域 动静态感知 操纵性 

分 类 号：U674.941[交通运输工程—船舶及航道工程] U664.82[交通运输工程—船舶与海洋工程] TP273[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]