摘要
以悬停式AUV"MM-01"为试验平台,设计一种基于行为的控制体系结构。将AUV的行为划分为漫游、巡航和避障三个基本行为,并将模糊控制引入避障行为中,通过基于优先级的仲裁方式实现三种行为的有序协调,完成预定任务。同时,针对AUV的悬停需求,提出了增加内环速度反馈实现AUV稳定悬停的控制方法,定义一种新的高层自治控制系统与底层运动控制系统的接口。最后,通过建立整个系统的Simulink仿真模型,验证了该控制策略的有效性。
A control architecture based on behaviors is designed for the hovering-type AUV test bed ＂MM-01＂.Three basic behaviors,including Wander,Cruise and Obstacle-Avoid,realized by fuzzy logic control,are defined.AUV′s predefined mission can be performed by the sequential coordination of those behaviors based on priority.Besides,this paper proposes to introduce inner-loop velocity feedback into motion control to realize AUV′s hovering function and defines a new kind of interface between high-level autonomous control block and low-level motion control block.Finally the simulation of the whole system is executed in Simulink and the results validate the efficiency of the designed control strategy.
出处
《海洋工程》
CSCD
北大核心
2011年第1期75-81,共7页
The Ocean Engineering
基金
上海交通大学海洋工程国家重点实验室自主研究课题资助项目
关键词
AUV
悬停
基于行为
优先级仲裁
仿真
AUV
hovering
behavior-based
coordination based on priority
simulation
