波浪能推进水面航行器的路径规划问题研究

发布时间：2017-12-31 16:15

本文关键词：波浪能推进水面航行器的路径规划问题研究　出处：《浙江大学》2016年硕士论文　论文类型：学位论文

【摘要】：海洋资源的勘测和环境的监测等领域的研究亟需一种能在恶劣的海洋环境中长时间、大范围自主移动的观测平台。当前海洋研究任务主要由船只,浮标、潜标、高空遥感和水下机器人等平台完成,这些传统平台不单要消耗大量的人物力资源,并且难以自主地完成长时间和大范围的任务。本课题将研究一种新型自主移动观测平台——波浪能推进水面航行器。该航行器能将波浪能转换为前进驱动力,通过搭载各类传感器、通信设备和光伏系统,能自主地完成长时间和大范围的监测作业。为了使得波浪能推进水面航行器能精确和高效地进行航海作业,我们必须对航行器进行路径规划。海流的时空多变性导致传统路径规划方法在海流干扰下效果比较差,因此需要一种能考虑海流作用的路径规划方法；另外最优路径规划需具备精确的驱动速度,而波浪能航行器的波浪能推进的运动方式导致其驱动速度受限于波浪海况,时变不可控的驱动速度加剧了路径规划问题,因此需建立动力学模型来获得精确驱动速度。为了解决波浪能航行器的路径规划难题,本文在分析波浪能航行器的运动特性基础上,利用Kane方法建立了其动力学模型并通过仿真实验与水池实验验证了模型。该动力学模型可求得不同海况下航行器的驱动速度。其次研究了考虑海流影响的水平集路径规划方法,提出了考虑时变驱动速度与动态海流的波浪能航行器的路径规划方法,最后提出了基于水平集的动态路径规划方法。
[Abstract]:The research of marine resources survey and environmental monitoring is in urgent need of a kind of observation platform which can move independently for a long time in the bad marine environment. At present, the marine research task mainly consists of ships, buoys, and submarks.At present, the main task of ocean research is ship, buoy and submarkage. High altitude remote sensing and underwater vehicle platforms are completed, these traditional platforms not only consume a large number of human force resources. And it is difficult to accomplish long and wide tasks independently. In this paper, we will study a new autonomous mobile observation platform-wave propulsion vehicle, which can convert wave energy into forward driving force. By carrying all kinds of sensors, communication equipment and photovoltaic system, we can carry out long and large-scale monitoring independently. In order to make the wave propulsion surface navigator can accurately and efficiently carry out navigation operations. It is necessary to plan the path of the navigator. Due to the temporal and spatial variability of the current, the effect of the traditional path planning method under the current disturbance is poor, so we need a path planning method which can take into account the current effect. In addition, the optimal path planning needs accurate driving speed, and the wave energy propulsion mode of the wave energy navigator causes its driving speed to be limited by the wave sea condition. The path planning problem is aggravated by the time-varying uncontrollable driving speed, so it is necessary to establish a dynamic model to obtain the accurate driving speed, in order to solve the problem of path planning for the wave energy vehicle. In this paper, the motion characteristics of wave energy vehicle are analyzed. The dynamic model is established by using Kane method, and the model is verified by simulation experiment and tank experiment. The driving speed of navigator under different sea conditions can be obtained by this dynamic model. Secondly, considering the influence of ocean current, the driving speed of vehicle is studied. Horizontal set path planning method. A path planning method for wave energy navigator considering time-varying driving velocity and dynamic current is proposed. Finally, a dynamic path planning method based on level set is proposed.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U664.8

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