本文關(guān)鍵詞：波浪能推進(jìn)水面航行器的路徑規(guī)劃問題研究　出處：《浙江大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 航行器 波浪能 動(dòng)力學(xué)建模 路徑規(guī)劃 水平集方法

【摘要】：海洋資源的勘測和環(huán)境的監(jiān)測等領(lǐng)域的研究亟需一種能在惡劣的海洋環(huán)境中長時(shí)間、大范圍自主移動(dòng)的觀測平臺(tái)。當(dāng)前海洋研究任務(wù)主要由船只,浮標(biāo)、潛標(biāo)、高空遙感和水下機(jī)器人等平臺(tái)完成,這些傳統(tǒng)平臺(tái)不單要消耗大量的人物力資源,并且難以自主地完成長時(shí)間和大范圍的任務(wù)。本課題將研究一種新型自主移動(dòng)觀測平臺(tái)——波浪能推進(jìn)水面航行器。該航行器能將波浪能轉(zhuǎn)換為前進(jìn)驅(qū)動(dòng)力,通過搭載各類傳感器、通信設(shè)備和光伏系統(tǒng),能自主地完成長時(shí)間和大范圍的監(jiān)測作業(yè)。為了使得波浪能推進(jìn)水面航行器能精確和高效地進(jìn)行航海作業(yè),我們必須對航行器進(jìn)行路徑規(guī)劃。海流的時(shí)空多變性導(dǎo)致傳統(tǒng)路徑規(guī)劃方法在海流干擾下效果比較差,因此需要一種能考慮海流作用的路徑規(guī)劃方法；另外最優(yōu)路徑規(guī)劃需具備精確的驅(qū)動(dòng)速度,而波浪能航行器的波浪能推進(jìn)的運(yùn)動(dòng)方式導(dǎo)致其驅(qū)動(dòng)速度受限于波浪海況,時(shí)變不可控的驅(qū)動(dòng)速度加劇了路徑規(guī)劃問題,因此需建立動(dòng)力學(xué)模型來獲得精確驅(qū)動(dòng)速度。為了解決波浪能航行器的路徑規(guī)劃難題,本文在分析波浪能航行器的運(yùn)動(dòng)特性基礎(chǔ)上,利用Kane方法建立了其動(dòng)力學(xué)模型并通過仿真實(shí)驗(yàn)與水池實(shí)驗(yàn)驗(yàn)證了模型。該動(dòng)力學(xué)模型可求得不同海況下航行器的驅(qū)動(dòng)速度。其次研究了考慮海流影響的水平集路徑規(guī)劃方法,提出了考慮時(shí)變驅(qū)動(dòng)速度與動(dòng)態(tài)海流的波浪能航行器的路徑規(guī)劃方法,最后提出了基于水平集的動(dòng)態(tài)路徑規(guī)劃方法。
[Abstract]:The research of marine resources survey and environmental monitoring is in urgent need of a kind of observation platform which can move independently for a long time in the bad marine environment. At present, the marine research task mainly consists of ships, buoys, and submarks.At present, the main task of ocean research is ship, buoy and submarkage. High altitude remote sensing and underwater vehicle platforms are completed, these traditional platforms not only consume a large number of human force resources. And it is difficult to accomplish long and wide tasks independently. In this paper, we will study a new autonomous mobile observation platform-wave propulsion vehicle, which can convert wave energy into forward driving force. By carrying all kinds of sensors, communication equipment and photovoltaic system, we can carry out long and large-scale monitoring independently. In order to make the wave propulsion surface navigator can accurately and efficiently carry out navigation operations. It is necessary to plan the path of the navigator. Due to the temporal and spatial variability of the current, the effect of the traditional path planning method under the current disturbance is poor, so we need a path planning method which can take into account the current effect. In addition, the optimal path planning needs accurate driving speed, and the wave energy propulsion mode of the wave energy navigator causes its driving speed to be limited by the wave sea condition. The path planning problem is aggravated by the time-varying uncontrollable driving speed, so it is necessary to establish a dynamic model to obtain the accurate driving speed, in order to solve the problem of path planning for the wave energy vehicle. In this paper, the motion characteristics of wave energy vehicle are analyzed. The dynamic model is established by using Kane method, and the model is verified by simulation experiment and tank experiment. The driving speed of navigator under different sea conditions can be obtained by this dynamic model. Secondly, considering the influence of ocean current, the driving speed of vehicle is studied. Horizontal set path planning method. A path planning method for wave energy navigator considering time-varying driving velocity and dynamic current is proposed. Finally, a dynamic path planning method based on level set is proposed.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U664.8

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