本文關(guān)鍵詞：自主式水面航行器導(dǎo)航與制導(dǎo)算法的研究　出處：《大連海事大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： USV 路徑規(guī)劃 自動(dòng)避碰 制導(dǎo) 算法

【摘要】：近年來,無人水面航行器(Unmanned Surface Vessel, USV)的應(yīng)用和進(jìn)展引起了人們極大的關(guān)注。對(duì)于USV的發(fā)展而言,自主航行技術(shù)是一個(gè)重要的研究領(lǐng)域。自主航行技術(shù)可降低USV對(duì)于人員和無線通信帶寬需求,使其能夠通過自主決策功能保證其在航行中的安全；另外,通過自主航行技術(shù),USV可與多個(gè)航行器協(xié)同作業(yè),這對(duì)發(fā)展大規(guī)模無人海上作戰(zhàn)體系和海上探測(cè)體系是至關(guān)重要的。 USV的航行自主決策系統(tǒng)極其復(fù)雜,核心的算法是實(shí)現(xiàn)自主航行的決策依據(jù)。本文主要研究了自主航行中的三個(gè)重要方面,分別為：路徑規(guī)劃、自動(dòng)避碰和制導(dǎo)。具體完成了以下工作： 首先根據(jù)USV路徑規(guī)劃的需要,從規(guī)劃算法、環(huán)境建模、約束條件等方面進(jìn)行了研究。選擇了A*算法作為規(guī)劃算法,并基于電子海圖資料建立環(huán)境模型,結(jié)合USV航行需要對(duì)A*算法提出了進(jìn)一步優(yōu)化方法。最后編寫了USV路徑規(guī)劃的軟件,并用大連海域的海圖驗(yàn)證了A*算法有效性以及該軟件的適用性。 其次研究了USV的自動(dòng)避碰原理,并建立了基于速度的避碰模型,并將“國際海上避碰規(guī)則”的要求考慮到避碰決策當(dāng)中。 最后根據(jù)USV的運(yùn)動(dòng)特性結(jié)合導(dǎo)彈制導(dǎo)算法研究了USV自動(dòng)制導(dǎo)問題,并對(duì)USV運(yùn)用導(dǎo)彈制導(dǎo)算法完成追擊、攔截以及隊(duì)形變化進(jìn)行了仿真,進(jìn)一步驗(yàn)證導(dǎo)彈制導(dǎo)算法用于USV制導(dǎo)的可行性。
[Abstract]:In recent years, the application and progress of Unmanned Surface vessel (USVs) have attracted great attention, especially for the development of USV. Autonomous navigation technology is an important research field. Autonomous navigation technology can reduce the requirements of USV for personnel and wireless communication bandwidth, enabling it to ensure its safety in navigation through autonomous decision-making function. In addition, USV can work in cooperation with multiple vehicles through autonomous navigation technology, which is very important for the development of large-scale unmanned marine combat system and maritime exploration system. The navigation autonomous decision system of USV is extremely complex, and the core algorithm is the decision basis to realize autonomous navigation. This paper mainly studies three important aspects of autonomous navigation, namely: path planning. Automatic collision avoidance and guidance. Firstly, according to the needs of USV path planning, the planning algorithm, environmental modeling, constraints and other aspects are studied. The A * algorithm is selected as the planning algorithm, and the environmental model is built based on the electronic chart data. According to the needs of USV navigation, a further optimization method is proposed for the A * algorithm. Finally, the USV path planning software is developed. The validity of the A * algorithm and the applicability of the software are verified by the chart of Dalian Sea area. Secondly, the principle of automatic collision avoidance of USV is studied, and the model of collision avoidance based on velocity is established, and the requirements of "International rules for preventing collision at Sea" are taken into account in the decision-making of collision avoidance. Finally, according to the motion characteristics of USV and missile guidance algorithm, the USV automatic guidance problem is studied, and the simulation of USV using missile guidance algorithm to complete pursuit, interception and formation change is carried out. The feasibility of using missile guidance algorithm in USV guidance is further verified.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U675.7

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