水面无人艇基于优化的协同策略及实现的初步研究

发布时间：2018-06-12 15:29

本文选题：水面无人艇(USV) + 协同策略　；参考：《江苏科技大学》2016年硕士论文

【摘要】：近年来,海洋权益及海洋环境保护问题日益突出,无人水面艇(USV)作为信息化及智能化的产物,可以广泛应用于环保监测、科研勘探、水下测绘、搜索救援、安防巡逻乃至军事应用领域,其研究受到了普遍重视。但是单艘艇艇载设备有限,只能完成简单任务,使用多艘无人艇进行协同任务可以有效克服单艘艇的任务能力限制。多艘无人艇通过搭载不同模块和设备,可以充分获取宽广海域的信息,分工协作完成任务,增强了海上自主系统的多样性,提高了作业的整体效能。国内在无人艇协同系统及协同作业策略的研究方面几乎空白,本文基于此现状进行了如下的研究工作:(1)设计并制作了一种艇型优良且具有协同功能的双体船,对该船的操纵系统,推进系统进行了设备的选型和设计分析。选取了基于windows系统的XP-8741型PAC作为该船的核心控制器,用C++编写了智能控制系统程序实现了该船的半自主规划航行。(2)基于遗传算法,考虑到无人艇实际航行中的转弯过程,对无人艇从起点位姿状态(位置和艏向角)转换到终点位姿状态(位置和艏向角)的路径优化问题进行了探讨,提出了一种CLC路径规划策略,建立了两个航点间的路径优化数学模型,进行了路径优化情况的分析,并编写了两点间路径优化仿真平台软件,验证了该优化数学模型的可行性。(3)对基于优化的无人艇协同策略进行了探讨和分析。基于层次分解策略将协同搜索分为任务分配和路径规划两个子问题,其中任务分配采用基于分层模糊评判的方法进行求解,路径规划根据搜索的方式不同,在覆盖式搜索方式下采用沿着任务区域长边,即能耗最小的路径搜索方法进行求解,在非覆盖式搜索方式下基于概率图预测规划的航点,将其转换为TSP路径的优化问题进行求解。同时,本文提出了一种基于路径参数协同的编队控制策略。(4)完成了一种基于概率图预测的协同搜索任务场景的实验,基于贝叶斯定理更新概率图,且在实验的过程中,展示了协同系统的操作方法和步骤,验证了协同系统的可靠性。
[Abstract]:In recent years, marine rights and marine environmental protection have become increasingly prominent. As a product of information and intelligence, unmanned surface boats (USV) can be widely used in environmental monitoring, scientific research, underwater mapping, search and rescue, security patrol and even military applications. The ability to complete a simple task and use a number of unmanned yacht to perform cooperative tasks can effectively overcome the limitation of the task capability of a single boat. By carrying different modules and equipment, a number of unmanned yacht can fully obtain the information of the wide area, complete the task with the division of labor, enhance the diversity of the autonomous marine system and improve the overall efficiency of the operation. The research of unmanned yacht cooperative system and cooperative operation strategy is almost blank. The following research work is carried out in this paper: (1) a kind of fine and cooperative catamaran has been designed and produced, and the control system of the ship and the design and analysis of the equipment are selected and the design analysis based on window is selected. The XP-8741 type PAC of the s system is the core controller of the ship, and the intelligent control system program is written in C++ to realize the semi autonomous planning and navigation of the ship. (2) based on the genetic algorithm, considering the turning process of the unmanned craft in the actual navigation, the unmanned yacht from the starting position (position and heading angle) is converted to the terminal position (position and bow). The path optimization problem of angle to angle is discussed, a CLC path planning strategy is proposed, the path optimization mathematical model between two airways is established, the path optimization is analyzed, and two path optimization simulation platform software is written to verify the feasibility of the optimized digital model. (3) an optimization based unmanned craft Association. Based on the hierarchical decomposition strategy, the cooperative search is divided into two sub problems: task allocation and path planning, in which the task allocation is solved by the method of hierarchical fuzzy evaluation. The path planning is different according to the search method, and the long edge of the task area is adopted under the cover search mode, that is energy consumption. The minimum path search method is solved. In the non coverage search method, the navigation point based on the probability map prediction plan is converted to the optimization problem of the TSP path. At the same time, a formation control strategy based on the path parameter coordination is proposed. (4) a collaborative search task scenario based on the probability map prediction is completed. In the experiment, the probability map is updated based on the Bayes theorem. In the process of the experiment, the operation methods and steps of the cooperative system are displayed, and the reliability of the cooperative system is verified.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U665.2

【相似文献】