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基于传感探测系统的多自治水下机器人编队协调控制 被引量:8
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作者 庞师坤 王健 +1 位作者 易宏 梁晓锋 《上海交通大学学报》 EI CAS CSCD 北大核心 2019年第5期549-555,共7页
针对自治水下机器人(AUV)编队协调控制问题,研究了基于传感探测系统的主从式编队协调控制方法.该方法能够避免AUV编队之间依靠水声通信而造成的通信延迟和数据丢失的问题,提高编队控制的可靠性以及生存能力.首先根据领航者位置信息和期... 针对自治水下机器人(AUV)编队协调控制问题,研究了基于传感探测系统的主从式编队协调控制方法.该方法能够避免AUV编队之间依靠水声通信而造成的通信延迟和数据丢失的问题,提高编队控制的可靠性以及生存能力.首先根据领航者位置信息和期望的编队队形得到跟随者的参考路径,跟随者可以实时测得领航者的距离和航向信息并与参考路径相对比.其次为了使跟随者轨迹在短时间内收敛于参考路径从而得到期望的队形,利用Lyapunov函数设计了反演控制器.最后对设计进行了编队控制的仿真.结果表明,AUV编队队形保持良好,所采用的方法具有很好的可行性. 展开更多
关键词 自治水下机器人编队 传感探测系统 领航-跟随法
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Research on the Strategy of Underwater United Detection Fusion and Communication Using Multi-sensor
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作者 Zhenhua Xu Jianguo Huang Hai Huang Qunfei Zhang 《Journal of Marine Science and Application》 2011年第3期358-363,共6页
In order to solve the distributed detection fusion problem of underwater target detection, when the signal to noise ratio (SNR) of the acoustic channel is low, a new strategy for united detection fusion and communicat... In order to solve the distributed detection fusion problem of underwater target detection, when the signal to noise ratio (SNR) of the acoustic channel is low, a new strategy for united detection fusion and communication using multiple sensors was proposed. The performance of detection fusion was studied and compared based on the Neyman-Pearson principle when the binary phase shift keying (BPSK) and on-off keying (OOK) modes were used by the local sensors. The comparative simulation and analysis between the optimal likelihood ratio test and the proposed strategy was completed, and both the theoretical analysis and simulation indicate that using the proposed new strategy could improve the detection performance effectively. In theory, the proposed strategy of united detection fusion and communication is of great significance to the establishment of an underwater target detection system. 展开更多
关键词 detection fusion likelihood ratio test(LRT) Neyman-Pearson (NP) low signal to noise ratio
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