摘要
针对采用由自主水面船和自主水下航行器组成的异构海洋航行器集群进行协同搜救的问题,采用大地坐标系和船体坐标系建立自主水面船和自主水下航行器的运动学模型;基于视距制导策略,引入流体坐标系,设计适用于自主水面船和自主水下航行器的三维异构协同路径跟踪控制器,实现协同搜救;基于李雅普诺夫稳定性原理证明闭环系统的稳定性。仿真结果表明,提出的面向海洋搜救的三维异构协同路径跟踪控制器是有效的。
Aiming at the problem of cooperative search and rescue problem of heterogeneous ocean vehicle cluster composed of autonomous unmanned ship(ASV)and autonomous underwater unmanned vehicle(AUV).The kinematics models of ASV and AUV are established by using geodetic coordinate system and hull coordinate system.Based on the stadia guidance strategy and the introduction of fluid coordinate system,a 3D heterogeneous cooperative path tracking controller for ASV and AUV is designed for cooperative search and rescue.The stability of closed loop system is proved based on Lyapunov stability principle.The simulation results verify the effectiveness of the proposed 3D heterogeneous cooperative path tracking controller for marine search and rescue.
作者
仝世豪
孙建波
陈亚辉
冯伟
孙涛
王浩亮
TONG Shihao;SUN Jianbo;CHEN Yahui;FENG Wei;SUN Tao;WANG Haoliang(Marine Engineering College,Dalian Maritime University,Dalian 202204,Liaoning,China)
出处
《船舶工程》
CSCD
北大核心
2023年第7期1-8,共8页
Ship Engineering
基金
辽宁省自然科学基金计划(博士科研启动计划)(2023-BS-077)
辽宁省教育厅高等学校基本科研项目(LJKZ0044)
大连海事大学博联科研基金项目(3132023616)
大连市科技局高层次人才创新支持计划资助项目(2020RQ013)
关键词
无人船
水下无人航行器
协同路径跟踪
视距制导策略
海洋搜救
autonomous surface vehicle(ASV)
autonomous underwater vehicle(AUV)
cooperative path following
line of sight(LOS)
marine search and rescue
