基于操纵运动特性的海事无人艇自主避碰算法研究

发布时间：2018-06-05 05:33

本文选题：海事无人艇 + 操纵运动性　；参考：《武汉理工大学》2014年硕士论文

【摘要】：海事无人艇作为一种主要应用于海事监管巡航等方面的水面无人艇，已经被国外一些国家广泛应用。然而，我国对海事无人艇技术的研究仍处于初级阶段。智能避碰技术作为海事无人艇实现智能化的关键技术之一，对其研究尚存在很大的空间。目前海事无人艇智能避碰方法的研究主要包括两个方面，分别为全局路径规划和局部避碰，但是在全局路径规划中很少考虑无人艇航行时的碰撞和超时风险影响因素以及艇身的操纵性；在局部避碰过程中，也很少研究受外界风浪流影响的无人艇避碰行为的有效性，这对于执行任务的海事无人艇来说实际应用价值较小。为了解决这些问题，提出了考虑风险因素的海事无人艇全局路径规划和基于操纵运动特性的无人艇自主实时避碰算法。论文首先简要介绍了国内外无人艇的发展现状，然后分析风浪流干扰下的无人艇受力情况，建立海事无人艇的操纵运动模型。规划了无人艇在航行中的全局路径；依据其受风浪流的影响特点，研究设计了海事无人艇的自主避碰算法。在研究全局路径规划的过程中，以碰撞和超时风险为主要考虑因素，集合Voronoi图和栅格方法规划全局路径。基于全局路径规划的优势，进一步研究海事无人艇自主避碰功能。由于受外界环境的干扰，其实际的航行轨迹会受到一定的影响，因此研究海事无人艇在风浪流影响下的受力情况，建立海事无人艇运动模型，分析无人艇三自由度操纵运动特性，了解其运动轨迹状况。将速度避障法运用到模型中，考虑外界环境的影响进行海事无人艇的避碰算法设计，并借助电子（江）海图平台实现无人艇的避碰仿真模拟。本文所研究的基于操纵运动特性的海事无人艇自主避碰算法，更优于目前所应用的全局路径规划和局部避碰方法。自主避碰算法考虑海事无人艇在避碰过程中的操纵运动特性，从而提高了避碰有效性，并且能够使在复杂水域环境中执行任务的海事无人艇对动态目标、岛屿等障碍物进行自主实时避碰。该方法为海事无人艇安全地航行、顺利地执行任务提供了保障。
[Abstract]:As a kind of surface unmanned craft which is mainly used in maritime supervision and cruise, maritime unmanned craft has been widely used in some foreign countries. However, the research on marine unmanned craft technology in China is still in the primary stage. Intelligent collision avoidance technology is one of the key technologies to realize the intelligence of marine unmanned craft, and there is still a lot of space to study it. At present, the research on intelligent collision avoidance method of marine unmanned craft mainly includes two aspects, which are global path planning and local collision avoidance, respectively. However, in the global path planning, the impact factors of collision and timeout risk and the maneuverability of the hull are seldom considered in the global path planning, and the effectiveness of the collision avoidance behavior of the unmanned craft affected by the external wind, wave and current is seldom studied in the local collision avoidance process. This is of little practical value to the maritime unmanned craft on mission. In order to solve these problems, a global path planning method and an autonomous real-time collision avoidance algorithm based on maneuvering motion are proposed. This paper first introduces the development of unmanned craft at home and abroad, then analyzes the force situation of unmanned craft under the disturbance of wind, wave and current, and establishes the maneuvering motion model of marine unmanned craft. The global path of unmanned craft in navigation is planned, and the autonomous collision avoidance algorithm is designed according to the influence of wind, wave and current. In the process of studying global path planning, the risk of collision and timeout is considered as the main factor, and the set Voronoi graph and grid method are used to plan the global path. Based on the advantage of global path planning, the autonomous collision avoidance function of marine unmanned craft is further studied. Due to the disturbance of the external environment, the actual navigation trajectory will be affected to a certain extent. Therefore, the force situation of the marine unmanned craft under the influence of the wind, wave and current is studied, and the motion model of the marine unmanned craft is established. The motion characteristics of unmanned craft with three degrees of freedom are analyzed and its motion trajectory is analyzed. The velocity obstacle avoidance method is applied to the model, and the collision avoidance algorithm of the marine unmanned vessel is designed considering the influence of the external environment, and the simulation of collision avoidance is realized with the help of the electronic (river) chart platform. In this paper, the autonomous collision avoidance algorithm based on maneuvering motion is better than the global path planning and local collision avoidance method. The autonomous collision avoidance algorithm takes into account the maneuvering motion characteristics of the marine unmanned craft during collision avoidance, which improves the effectiveness of collision avoidance and enables the maritime unmanned vessel carrying out tasks in the complex water environment to set dynamic targets. Islands and other obstacles for autonomous real-time collision avoidance. This method provides the guarantee for the safe navigation and the smooth execution of the mission of the marine unmanned craft.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U675.7;U674.24

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