| 无人机海上溢油跟踪监测系统设计及仿真 |
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| 引用本文： | 覃睿,闫玲,陈子健.无人机海上溢油跟踪监测系统设计及仿真[J].海洋通报,2021,40(6):709-716. |
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| 作者姓名： | 覃睿 闫玲 陈子健 |
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| 作者单位： | 中国民航大学交通科学与工程学院,天津300300 |
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| 基金项目： | 国家重点研发计划项目 （2016YFC0802601）；重庆市交通局委托项目 （19C1043） |
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| 摘 要： | 海上环境变化多端,造成溢油的漂移和扩散会出现不可预测的情况,精确、实时地监测海上溢油是现今亟待解决的问题.无人机以其部署快、成本低、环境适应性强的优势在海上溢油监测领域得到重视,但单架无人机监测能力弱,而多架无人机监测的准确性仍需提高.为此,本文提出一种无人机群海面溢油自动导航跟踪监测的架构和方法,根据海上溢油浓度的变化进行路径规划.该方法包括建立溢油模型和设计无人机跟踪控制系统.溢油模型主要描述海上溢油时空变化的形态复杂性;控制器可控制无人机追踪和监测溢油漂移及扩散的情况.同时,将无人机跟踪控制系统与人工势场法相结合,避免无人机相撞.最后,进行数值仿真,结果表明该跟踪系统与溢油的重合率达到70％～80％,验证了该方法的可行性.未来,该系统可广泛应用于无人机群对不同环境现象和灾害的跟踪监测.
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| 关 键 词： | 海上溢油 无人机 跟踪控制系统 人工势场法 |
| 收稿时间： | 2021/4/29 0:00:00 |
| 修稿时间： | 2021/7/22 0:00:00 |
Design and simulation of UAVs oil spill tracking and monitoring system |
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| QIN Rui,YAN Ling,CHEN Zijian.Design and simulation of UAVs oil spill tracking and monitoring system[J].Marine Science Bulletin,2021,40(6):709-716. |
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| Authors: | QIN Rui YAN Ling CHEN Zijian |
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| Institution: | School of Transportation Science and Engineering, Civil Aviation University of China, Tianjin 300300, China |
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| Abstract: | The constantly changing marine environment causes unpredictable drift and spread of oil spills. Accurate and real-time monitoring of oil spills on the sea surface is still an urgent problem to be solved today. Unmanned aerial vehicles (UAVs) have received attention in the field of oil spill monitoring owing to their advantages of fast deployment, low cost, and strong environmental adaptability. However, the monitoring capability of a single UAV is weak, and the accuracy of monitoring by multiple UAVs still needs to be improved. To solve the problem, this paper proposes an architecture for automatic navigation, tracking and monitoring of oil spills at the sea surface using multiple UAVs, and route planning basedon changes in the concentration of oil spills. The method includes establishing an oil spill model and designing a UAV tracking control system. The oil spill model mainly describes the morphological complexity of the temporal and spatial changes of the oil spill, and the controller can control the UAVs to track and monitor the drift and spread of the oil spill. At the same time, the UAV tracking control system is combined with the artificial potential field approach to avoid the collision.Several numerical simulations are performed. The results show that the overlap rate of the tracking system and the oil spill reaches 70%-80%, which verifies the feasibility of the method. In the future, the system can be widely used in the tracking and monitoring of different environmental phenomena and disasters by multiple UAVs. |
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| Keywords: | oil spill unmanned aerial vehicle(UAV) tracking control system artificial potential field approach |
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