非结构化环境下多AUVS协调避碰技术研究

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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