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A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV. 相似文献
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随着地理信息系统技术的发展,电子海图作为一种专门的电子地图也越来越成熟。电子海图中提供了详细而准确的海洋环境信息。利用电子海图的环境建模和考虑海流因素的遗传搜索策略为解决大范围海洋环境下智能潜水器全局路径规划提供了一个新的方法。利用电子海图中的信息对智能潜水器的工作环境进行环境建模,以遗传多目标优化算法为搜索策略进行全局路径规划,并考虑海流因素对潜水器的影响,使潜水器在航行时可充分利用海流的能量。通过仿真试验对环境建模和路径规划进行了验证。该方法具有很好的实用性。 相似文献
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A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes. 相似文献
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This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory. 相似文献
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水下自航式海洋观测平台技术发展研究 总被引：3，自引：2，他引：3
水下自航式海洋观测平台是一种新型海洋观测平台，主要用于无人、大范围、长时间水下环境监测，包括物理学参数、海洋地质学和地球物理学参数，海洋化学参数、海洋生物学参数及海洋工程方面的现场接近观测。其特点是：成本低，环境适应性强，可冲破人工潜水极限而进入现场进行接近观测，免除了ROV需要水面支援母船的累赘，减少作业经费，体积小，使用方便，便于布放回收；可根据水声信号摇控或预置程序控制，按要求进行相关项目观测；有自主动力，水下运行时间相对较长，有源噪声低，可进行隐弊观测，正是基于以上的优点，近几年颇得海洋环境监测和海军方面的青睐，本文介绍了国际上水下自动观测平台的发展历史和现状，提出了我国开展研究水下自动观测平台的重要性及研究的面容。 相似文献
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Griffiths Gwyn; Enoch Peter; Millard Nicholas W. 《ICES Journal of Marine Science》2001,58(6):1195-1200
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Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface. 相似文献
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Pradeep R. Nambisan 《Ocean Engineering》2009,36(2):158-167
A multi-variable adaptive autopilot for the dive-plane control of submarines is designed. The vehicle is equipped with bow and stern hydroplanes for maneuvering. It is assumed that the system parameters are not known, and the disturbance force is acting on the vehicle. Based on a back-stepping design approach, an adaptive control law is derived for the trajectory control of the depth and the pitch angle. To prevent singularity in the control law, the SDU decomposition of the high-frequency gain matrix is used for the design. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories is accomplished. Simulation results are presented which show that the submarine performs dive-plane maneuvers in spite of the uncertainties in the system parameters and disturbance forces. 相似文献
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The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed. 相似文献