本文選題：海事無(wú)人艇 + 操縱運(yùn)動(dòng)性��； 參考：《武漢理工大學(xué)》2014年碩士論文

【摘要】：海事無(wú)人艇作為一種主要應(yīng)用于海事監(jiān)管巡航等方面的水面無(wú)人艇，已經(jīng)被國(guó)外一些國(guó)家廣泛應(yīng)用。然而，我國(guó)對(duì)海事無(wú)人艇技術(shù)的研究仍處于初級(jí)階段。智能避碰技術(shù)作為海事無(wú)人艇實(shí)現(xiàn)智能化的關(guān)鍵技術(shù)之一，對(duì)其研究尚存在很大的空間。目前海事無(wú)人艇智能避碰方法的研究主要包括兩個(gè)方面，分別為全局路徑規(guī)劃和局部避碰，但是在全局路徑規(guī)劃中很少考慮無(wú)人艇航行時(shí)的碰撞和超時(shí)風(fēng)險(xiǎn)影響因素以及艇身的操縱性；在局部避碰過(guò)程中，也很少研究受外界風(fēng)浪流影響的無(wú)人艇避碰行為的有效性，這對(duì)于執(zhí)行任務(wù)的海事無(wú)人艇來(lái)說(shuō)實(shí)際應(yīng)用價(jià)值較小。為了解決這些問(wèn)題，提出了考慮風(fēng)險(xiǎn)因素的海事無(wú)人艇全局路徑規(guī)劃和基于操縱運(yùn)動(dòng)特性的無(wú)人艇自主實(shí)時(shí)避碰算法。 論文首先簡(jiǎn)要介紹了國(guó)內(nèi)外無(wú)人艇的發(fā)展現(xiàn)狀，然后分析風(fēng)浪流干擾下的無(wú)人艇受力情況，建立海事無(wú)人艇的操縱運(yùn)動(dòng)模型。規(guī)劃了無(wú)人艇在航行中的全局路徑；依據(jù)其受風(fēng)浪流的影響特點(diǎn)，研究設(shè)計(jì)了海事無(wú)人艇的自主避碰算法。 在研究全局路徑規(guī)劃的過(guò)程中，以碰撞和超時(shí)風(fēng)險(xiǎn)為主要考慮因素，集合Voronoi圖和柵格方法規(guī)劃全局路徑�；谌致窂揭�(guī)劃的優(yōu)勢(shì)，進(jìn)一步研究海事無(wú)人艇自主避碰功能。由于受外界環(huán)境的干擾，其實(shí)際的航行軌跡會(huì)受到一定的影響，因此研究海事無(wú)人艇在風(fēng)浪流影響下的受力情況，建立海事無(wú)人艇運(yùn)動(dòng)模型，分析無(wú)人艇三自由度操縱運(yùn)動(dòng)特性，了解其運(yùn)動(dòng)軌跡狀況。將速度避障法運(yùn)用到模型中，考慮外界環(huán)境的影響進(jìn)行海事無(wú)人艇的避碰算法設(shè)計(jì)，并借助電子（江）海圖平臺(tái)實(shí)現(xiàn)無(wú)人艇的避碰仿真模擬。 本文所研究的基于操縱運(yùn)動(dòng)特性的海事無(wú)人艇自主避碰算法，更優(yōu)于目前所應(yīng)用的全局路徑規(guī)劃和局部避碰方法。自主避碰算法考慮海事無(wú)人艇在避碰過(guò)程中的操縱運(yùn)動(dòng)特性，從而提高了避碰有效性，并且能夠使在復(fù)雜水域環(huán)境中執(zhí)行任務(wù)的海事無(wú)人艇對(duì)動(dòng)態(tài)目標(biāo)、島嶼等障礙物進(jìn)行自主實(shí)時(shí)避碰。該方法為海事無(wú)人艇安全地航行、順利地執(zhí)行任務(wù)提供了保障。
[Abstract]:As a kind of surface unmanned craft which is mainly used in maritime supervision and cruise, maritime unmanned craft has been widely used in some foreign countries. However, the research on marine unmanned craft technology in China is still in the primary stage. Intelligent collision avoidance technology is one of the key technologies to realize the intelligence of marine unmanned craft, and there is still a lot of space to study it. At present, the research on intelligent collision avoidance method of marine unmanned craft mainly includes two aspects, which are global path planning and local collision avoidance, respectively. However, in the global path planning, the impact factors of collision and timeout risk and the maneuverability of the hull are seldom considered in the global path planning, and the effectiveness of the collision avoidance behavior of the unmanned craft affected by the external wind, wave and current is seldom studied in the local collision avoidance process. This is of little practical value to the maritime unmanned craft on mission. In order to solve these problems, a global path planning method and an autonomous real-time collision avoidance algorithm based on maneuvering motion are proposed. This paper first introduces the development of unmanned craft at home and abroad, then analyzes the force situation of unmanned craft under the disturbance of wind, wave and current, and establishes the maneuvering motion model of marine unmanned craft. The global path of unmanned craft in navigation is planned, and the autonomous collision avoidance algorithm is designed according to the influence of wind, wave and current. In the process of studying global path planning, the risk of collision and timeout is considered as the main factor, and the set Voronoi graph and grid method are used to plan the global path. Based on the advantage of global path planning, the autonomous collision avoidance function of marine unmanned craft is further studied. Due to the disturbance of the external environment, the actual navigation trajectory will be affected to a certain extent. Therefore, the force situation of the marine unmanned craft under the influence of the wind, wave and current is studied, and the motion model of the marine unmanned craft is established. The motion characteristics of unmanned craft with three degrees of freedom are analyzed and its motion trajectory is analyzed. The velocity obstacle avoidance method is applied to the model, and the collision avoidance algorithm of the marine unmanned vessel is designed considering the influence of the external environment, and the simulation of collision avoidance is realized with the help of the electronic (river) chart platform. In this paper, the autonomous collision avoidance algorithm based on maneuvering motion is better than the global path planning and local collision avoidance method. The autonomous collision avoidance algorithm takes into account the maneuvering motion characteristics of the marine unmanned craft during collision avoidance, which improves the effectiveness of collision avoidance and enables the maritime unmanned vessel carrying out tasks in the complex water environment to set dynamic targets. Islands and other obstacles for autonomous real-time collision avoidance. This method provides the guarantee for the safe navigation and the smooth execution of the mission of the marine unmanned craft.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：U675.7;U674.24

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 謝宏健;王華忠;;基于速度分解法的移動(dòng)機(jī)器人動(dòng)態(tài)避碰規(guī)劃[J];華東理工大學(xué)學(xué)報(bào)(自然科學(xué)版);2011年02期

，

本文編號(hào)：1980791