联网状态下水下无人潜航器的路径控制方法

The network path control method of underwater unmanned vehicles

传统的水下无人潜航器路径控制方法,在联网状态下,一直存在控制精度低、误差大,效率不好的问题,提出基于NURBS曲线拟合法的水下无人潜航器的路径控制方法。该方法采用传感器或者摄像机来侦测静态和动态障碍物,建立水下无人潜航器运动学模型,并获取其最小化rob路径长度的目标函数,分析潜航器所受约束情况。在此基础上,根据基本流体力学,确定潜航器所受阻力,引入滤波函数进行平滑处理,采用NURBS曲线拟合法,对水下无人潜航器路径进行控制。实验对比结果表明,采用改进的控制方法,在水下无人潜航器路径控制方面,其控制所需时间及精度均要优于传统的方法,具有一定的实用性。

The UUV path control method of traditional water, in the network, has low control precision, large error, efficiency is not good, then a path NURBS curve fitting method for unmanned underwater vehicle control method based on.This method uses a sensor or camera to detect static and dynamic obstacles, establish the kinematics model of underwater unmanned vehicles, the objective function and gets the minimum path length, analysis ROV restriction, on this basis, according to the basic fluid mechanics, to determine the resistance of underwater vehicles, introducing smoothing filter function NURBS, using the curve fitting method was used to control the path of unmanned underwater underwater vehicles. The experimental results show that the improved control method, the UUV path control method for the control of underwater, the required time and accuracy are better than the traditional, has a certain practicality.