CAJ | 학술논문

针对水下机器人能力有限问题设计了一种适应水下机器人能力的动态避障方法.以水下机器人对运动障碍物的相对速度信息建立速度矢量坐标系,在坐标系内,根据水下机器人速度矢量和障碍物速度矢量的相互关系以及水下机器人的能力,确定理论上能够避开障碍物的期望速度解集,然后按照满足碰撞时间条件的最小转艏避障原则求解水下机器人最优期望速度的大小和方向,使水下机器人能够以相对小的代价安全避开动态障碍物.仿真研究验证了此规划方法对躲避动态障碍物的有效性,该研究大幅度提高了水下机器人的智能水平.
침대수하궤기인능력유한문제설계료일충괄응수하궤기인능력적동태피장방법.이수하궤기인대운동장애물적상대속도신식건립속도시량좌표계,재좌표계내,근거수하궤기인속도시량화장애물속도시량적상호관계이급수하궤기인적능력,학정이론상능구피개장애물적기망속도해집,연후안조만족팽당시간조건적최소전수피장원칙구해수하궤기인최우기망속도적대소화방향,사수하궤기인능구이상대소적대개안전피개동태장애물.방진연구험증료차규화방법대타피동태장애물적유효성,해연구대폭도제고료수하궤기인적지능수평.
A dynamic obstacle avoidance method suitable for autonomous underwater vehicles (AUV) with insufficient was proposed. Velocity vector coordinates were built up according to obstacle velocities relative to the AUV. Using these coordinates, velocities and directions for the AUV that would theoretically allow it to avoid these obstacles were solved. The solution used interactions between velocities of the obstacles relative to the AUV in addition to analyzing the avoidance ability of the AUV. The optimum velocity was selected by applying the minimum turning principle to provide obstacle avoidance within a satisfactory period of time. Thus the AUV was able to safely avoid obstacles with the least energy output. The simulation results showed the efficiency of the planning method when dynamically avoiding obstacles. The planning capacity of the AUV was also shown to be greatly improved.