基于改进运动平衡点的水下机器人自主避障方法研究

An AUV Obstacle-Avoidance Method Based on Improving Balance Point of Motion

智能水下机器人一般工作在复杂海洋环境下,这就需要其具有安全可靠的自主避障能力。论文提出一种智能水下机器人的自主避障方法,将机器人局部避碰规划与控制及水动力性能相结合,使制定的避障策略能够反映其动态避障能力。根据水下机器人速度信息计算警戒安全距离,进行机器人各个自由度上运动平衡点建模,并将水下机器人速度和电压能源信息的影响引入机器人避障策略中,在进行避障规划控制偏差计算中考虑二者对机器人避障能力的影响,仿真试验验证了方法的有效性。

Autonomous underwater vehicle （AUV） generally works in unknown and complicated ocean environment, so it is essential for AUV to have safe and reliable ability in autonomous obstacle avoidance. An intelligent obstacle avoidance method for AUV is introduced. An obstacle avoidance strategy based on the method is presented, which combined local obstacle avoidance planning, motion control and hydrodynamic performance of underwater vehicle, and it can reflect the dynamic obstacle avoidance ability. The alert safety distance of AUV is computed based on underwater vehicle velocity information, while a model based on balance point of motion is constructed. Considering the effects on the ability of obstacle avoidance of AUV, velocity and energy information of AUV is introduced to obstacle avoidance strategy. Finally, feasibility of the obstacle avoiding methods is verified with simulation test.