水下机器人最优刹车轨迹规划设计

Optimal Braking Trajectory Planning of Underwater Vehicle

为使得以较高速进行运动的水下机器人能最终悬停于指定深度,需使该水下机器人在垂向上减速直至停止。针对水下机器人刹车上浮过程的特性,结合最优控制理论与数值积分方法,完成了水下机器人的最优刹车轨迹规划设计。研究结果表明,通过规划算法所得的刹车轨迹能保证水下机器人刹车距离最短且恰好悬停在指定悬停位置,提出的规划算法求解时间消耗较短,有较强实时性。

In order to hover at a certain depth,an underwater vehicle of high velocity has to decelerate vertically until it stops.Considering the characteristics of braking control,the optimal braking trajectory planning is proposed based on optimal control theory and numerical integration.It is shown that the optimal trajectory obtained by the algorithm proposed here could ensure that the braking distance is shortest and the underwater vehicle hovers at the specified position.Furthermore,the time consumption of the algorithm is low so that it has a strong real-time performance.