發(fā)布時間：2018-06-05 05:33

  本文選題：海事無人艇 + 操縱運動性��； 參考：《武漢理工大學》2014年碩士論文

【摘要】：海事無人艇作為一種主要應用于海事監(jiān)管巡航等方面的水面無人艇，已經(jīng)被國外一些國家廣泛應用。然而，我國對海事無人艇技術的研究仍處于初級階段。智能避碰技術作為海事無人艇實現(xiàn)智能化的關鍵技術之一，對其研究尚存在很大的空間。目前海事無人艇智能避碰方法的研究主要包括兩個方面，分別為全局路徑規(guī)劃和局部避碰，但是在全局路徑規(guī)劃中很少考慮無人艇航行時的碰撞和超時風險影響因素以及艇身的操縱性；在局部避碰過程中，也很少研究受外界風浪流影響的無人艇避碰行為的有效性，這對于執(zhí)行任務的海事無人艇來說實際應用價值較小。為了解決這些問題，提出了考慮風險因素的海事無人艇全局路徑規(guī)劃和基于操縱運動特性的無人艇自主實時避碰算法。 論文首先簡要介紹了國內(nèi)外無人艇的發(fā)展現(xiàn)狀，然后分析風浪流干擾下的無人艇受力情況，建立海事無人艇的操縱運動模型。規(guī)劃了無人艇在航行中的全局路徑；依據(jù)其受風浪流的影響特點，研究設計了海事無人艇的自主避碰算法。 在研究全局路徑規(guī)劃的過程中，以碰撞和超時風險為主要考慮因素，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，進一步研究海事無人艇自主避碰功能。由于受外界環(huán)境的干擾，其實際的航行軌跡會受到一定的影響，因此研究海事無人艇在風浪流影響下的受力情況，建立海事無人艇運動模型，分析無人艇三自由度操縱運動特性，了解其運動軌跡狀況。將速度避障法運用到模型中，考慮外界環(huán)境的影響進行海事無人艇的避碰算法設計，并借助電子（江）海圖平臺實現(xiàn)無人艇的避碰仿真模擬。 本文所研究的基于操縱運動特性的海事無人艇自主避碰算法，更優(yōu)于目前所應用的全局路徑規(guī)劃和局部避碰方法。自主避碰算法考慮海事無人艇在避碰過程中的操縱運動特性，從而提高了避碰有效性，并且能夠使在復雜水域環(huán)境中執(zhí)行任務的海事無人艇對動態(tài)目標、島嶼等障礙物進行自主實時避碰。該方法為海事無人艇安全地航行、順利地執(zhí)行任務提供了保障。
[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.
【學位授予單位】：武漢理工大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U675.7;U674.24

【參考文獻】

相關期刊論文 前1條

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本文編號：1980791