欢迎来到天天文库
浏览记录
ID:36644777
大小:1.92 MB
页数:76页
时间:2019-05-13
《非结构化环境下多AUVS协调避碰技术研究》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、Y1211398分类号密缎编号工学硕士学位论文非结构化环境下多AUVs协调避碰技术研究硕士研究生:指导教师:学科、专业:学位论文主审人:王爱兵严浙平教授交通信息工程及控制边信黔教授哈尔滨I程大学2007午4月哈尔滨工程人学硕士学位论文ABSTRACTAutonomousUnderwaterVellicle(AUV)playsanimportantroleinmarineenvironmentmonitoring,seabedresourcesinvestigating,scienceinspecting,dangerous
2、enVlrenmentexploring,rescueandsalvageandSOon.Alongwiththemissionbecomemorecomplicatedly,thesingleAUVobviouslyshowsinsutticientateffectiveness,robustnessandflexibilityinalarge—scaleoperatingmission.ItiSnecessarytocoordinate谢ththehelpofMulti·AUvsoperatingtogether.Th
3、erearesomekeytechniquessuchastherelativepositiondetectingbetweenMulti—AUVs,formationcontrollingandobstaclesavoidingintheprocessofdealingwithcomplicatedmission.Inthispaper,itisproposedtoimplementthecoordinatedcollisionavoidancebetweenmulti—AUVsaccordingtotherelativ
4、edifficultyofunderwatercommunicationandseriousinertialtimedelay.Firstly,thetrendofAUVdevelopmentandtheresearchmeaningarepresentedanddiscussed.Secondly,fourDOFdynamicmodelandcontr01architectureofAUV,geometricalmodelofcollisionavoidancesonariSdesignedbasedontheneeds
5、ofreal-timecollisionavoidanceplanningformulti.AUVsThirdly,AUVcollisionavoidanceplanningbasedonpotentialfieldandpotentialfieldtrapandbrakingtimedelayisinvestigatedandanalyzed.Lastly,discussingproblemsonmulti—AUVscollisionavoidance;investigateingthreecoordinatedcoll
6、isionavoidalicemethodsbasedondangerthresholdAvoid-auvperformanceanddynamictransferpriority;dothesimulationverificationofmulti.}ⅪNscoordinatedcollisionavoidance.ThesimulationresultsshowthatAUvdynamicmodeling.controlarchitectureandcollisionavoidancesonargeometricalm
7、odelingareeffective.TheimprovedpotentialfieldcollisionavoidancealgorithmiSeffectiveandthereal-timeperformanceiSgoodtOO.Themethodofmulti-AUVscoordinatedcollisionavoidanceplanningiSreasonableandfeasibleindealing、ⅣimAUVformationcollisionavoidance.Themethodsareeffecti
8、veandcreativeindealingwithmRlti·AwsC00rdinatedcollisionavoidance.Keywords:multi-AUVs;coordinatedcollisionavoidance;ArtificialPotentialField(APF);behavio
此文档下载收益归作者所有