摘要
针对未知水下环境下的自主水下航行器(autonomous underwater vehicle,AUV)目标搜索问题,传统方法搜索速度慢且以解决二维平面下搜索问题为主,本文提出了一种基于改进RRT(rapid-exploration random tree)的未知三维环境目标搜索算法。在搜索方面,分别建立了包括目标存在概率地图、不确定度地图、区域遍历度地图在内的实时地图并设定其更新规则,根据搜索目标建立决策函数;在局部规划方面,将滚动规划与改进RRT算法相结合,规划出到搜索决策点的路径。二者的结合,实现了AUV在三维空间下在线实时搜索。仿真表明,该算法具有较强的遍历能力,提高了三维空间下目标搜索的速度。
To solve the target search problem of autonomous underwater vehicles(AUV)in an unknown underwater en-vironment,traditional methods have slow search speed and mainly solve the search problem in a two-dimensional plane.In this study,an unknown three-dimensional(3D)environment target search algorithm based on the improved rapidly exploring random tree(RRT)algorithm is proposed.In the aspect of search,real-time maps,including target existence probability,uncertainty,and area traversal degree maps,are established,and their update rules are set.Moreover,the de-cision function is established according to the search target.In the aspect of local planning,the path to the search de-cision point is planned by combining rolling planning with the improved RRT algorithm.Their combination realizes the real-time online search of AUV in 3D space.The simulation shows that the algorithm has strong traversal capability and improves the target search speed in 3D space.
作者
李娟
张韵
陈涛
LI Juan;ZHANG Yun;CHEN Tao(Institute of Ocean Installations and Control Technology,Harbin Engineering University,Harbin 150001,China;School of Intel-ligent Science and Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《智能系统学报》
CSCD
北大核心
2022年第2期368-375,共8页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金项目(51809060,5217110503)
黑龙江省自然科学基金项目(E2017014).
关键词
自主水下航行器
目标搜索
快速扩展随机树
局部路径规划
水下环境
滚动规划
实时搜索
决策
autonomous underwater vehicles
target search
rapidly exploring random tree
local path planning
under-water environment
rolling planning
real-time search
decision-making
作者简介
李娟,教授,博士,主要研究方向为水下机器人、船舶智能控制和多智能体系统。获国防科技进步特等奖1项、一等奖2项、二等奖1项。获授权国家发明专利7项。出版学术著作2部,发表学术论文30余篇;张韵,硕士研究生,主要研究方向为水下机器人的智能规划与搜索;通信作者:陈涛,教授,主要研究方向为水下无人航行器控制。主持和参与国家自然科学基金2项、黑龙江省自然科学基金1项、装备预研及研制项目6项、获国防科技进步一等奖2项、国防科技进步特等奖1项,国家科技进步二等奖1项。发表学术论文30余篇。E-mail:chentao_7777@163.com.
