未知环境下UUV动态目标跟踪导引方法
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摘要
针对未知动态环境下无人水下航行器(UUV)对随机动态目标的跟踪问题,提出了一种跟踪与避碰切换导引策略。在建立目标与UUV、障碍物与UUV相对运动学关系的基础上,考虑UUV运动控制中航速和航向角速度的饱和约束条件,以UUV航行安全性和跟踪精度为目标,利用李雅普诺夫方法完成了基于视线导引切换的动态目标跟踪与避碰策略设计。对所设计的导引方法进行了仿真试验,实现了在静态障碍物和动态障碍物2种状态下对运动目标的跟踪且满足跟踪精度的要求,验证了所提出的跟踪与避碰切换导引策略的有效性。
For the random dynamic target tracking problem of unmanned undersea vehicle(UUV)in unknown environment, a tracking and obstacle avoidance switching guidance strategy is proposed. The relative kinematics relation between target and UUV, as well as target and obstacle, is established, and the saturation constraint condition of speed and angular velocity in UUV motion control is taken into account. Lyapunov method is then used to complete the design of dynamic target tracking and obstacle avoidance strategy based on line of sight switching guidance in order to meet UUV navigation safety and tracking accuracy. Numerical simulation with the proposed method is carried out, and the results show that the tracking precision meets the requirement in both static and dynamic obstacle environments, verifying the correctness and feasibility of the tracking and obstacle avoidance switching guidance strategy.
For the random dynamic target tracking problem of unmanned undersea vehicle(UUV)in unknown environment, a tracking and obstacle avoidance switching guidance strategy is proposed. The relative kinematics relation between target and UUV, as well as target and obstacle, is established, and the saturation constraint condition of speed and angular velocity in UUV motion control is taken into account. Lyapunov method is then used to complete the design of dynamic target tracking and obstacle avoidance strategy based on line of sight switching guidance in order to meet UUV navigation safety and tracking accuracy. Numerical simulation with the proposed method is carried out, and the results show that the tracking precision meets the requirement in both static and dynamic obstacle environments, verifying the correctness and feasibility of the tracking and obstacle avoidance switching guidance strategy.
引文
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[11]Behnamgol V,Vali A R,Mohammadi A.A New Adaptive Finite Time Nonlinear Guidance Law to Intercept Maneuvering Targets[J].Aerospace Science and Technology,2017,68:416-421.
[12]Wang Y,Wang H,Li Q.Methods of Target Motion Estimation for AUV Target Tracking[C]//IEEE International Conference on Mechatronics&Automation.Harbin,China:IEEE,2016:2139-2144.
[13]Yue C,Bo Y M,Wu P L,et al.Non-cooperative Space Target Tracking Based on Fuzzy Iterative Square-root Cubature Kalman Filter[J].Journal of Chinese Inertial Technology,2017,25(3):395-398,404.
[14]Yan Z G,Liang W G,Lv H D.A Target Tracking Algorithm Based on Improved Camshift and UKF[J].Journal of Software Engineering and Applications,2014,7(13):1065-1073.
[15]刘南江.水下目标跟踪控制策略研究[D].哈尔滨:哈尔滨工程大学,2008.
[16]Xu J,Wang M,Qiao L.Dynamical Sliding Mode Control for the Trajectory Tracking of Underactuated Unmanned Underwater Vehicles[J].Ocean Engineering,2015,105:54-63.
[17]Chun-yu J M,Qu Z,Pollak E,et al.Reactive Targettracking Control with Obstacle Avoidance of Unicycletype Mobile Robots in a Dynamic Environment[C]//American Control Conference(ACC).Marriott Waterfront,Baltimore,MD,USA:IEEE,2010:1190-1195.
[18]Yao P,Wang H,Su Z.Real-time Path Planning of Unmanned Aerial Vehicle for Target Tracking and Obstacle Avoidance in Complex Dynamic Environment[J].Aerospace Science and Technology,2015,47:269-279.
[19]杨建,董密,淳于江民.新的动态环境中目标跟踪和避障的控制方法[J].计算机工程与应用,2012,48(15):220-226.Yang Jian,Dong Mi,Chun-yu Jiang-min.New Reactive Target-tracking and Obstacle Avoidance Control in Dynamic Environment[J].Computer Engineering and Applications,2012,48(15):220-226.
[2]严浙平,何靓文,李娟.多域限界内多AUV巡逻航路规划方法[J].水下无人系统学报,2017,25(4):25-30.Yan Zhe-ping,He Liang-wen,Li Juan.Path Planning Method for Multi-AUVs Patrol in Restricted Multizone Area[J].Journal of Unmanned Undersea Systems,2017,25(4):25-30.
[3]黄方,刘湘南,刘兆礼,等.动态目标实时监控管理系统的设计与建立[J].东北师大学报(自然科学版),2000,32(4):71-75.Huang Fang,Liu Xiang-nan,Liu Zhao-li,et al.Study on the Dynamic Object Monitoring System Development[J].Journal of Northeast Normal University(Natural Science Edition),2000,32(4):71-75.
[4]Zhu D,Sun B.The Bio-inspired Model Based Hybrid Sliding-mode Tracking Control for Unmanned Underwater Vehicles[J].Engineering Applications of Artificial Intelligence,2013,26(10):2260-2269.
[5]陈强,张林根.美国军用UUV现状及发展趋势分析[J].舰船科学技术,2010,32(7):129-134.Chen Qiang,Zhang Lin-gen.Analysis of Current Situational Development Trend of US Military UUV[J].Ship Science and Technology,2010,32(7):129-134.
[6]徐筱龙,徐国华,游胜.水下目标跟踪定位用接近觉传感器[J].传感器与微系统,2009,28(5):115-116.Xu Xiao-long,Xu Guo-hua,You Sheng.Underwater Proximate Sensor for Object Tracking and Positioning[J].Transducer and Microsystem Technologies,2009,28(5):115-116.
[7]Wang Y.Wang H J,Li C,et al.Methods of Target Motion Estimation for AUV Target Tracking[C]//IEEE International Conference on Mechatronics&Automation.Harbin,China:IEEE,2016:2139-2144.
[8]Liang S.Dynamic Modeling,Trajectory Generation and Tracking for Towed Cable Systems[D].Provo US:Brigham Young University,2012.
[9]王艳艳,刘开周,封锡胜.基于强跟踪平方根容积卡尔曼滤波的纯方位目标运动分析方法[J].计算机测量与控制,2016,24(11):136-140.Wang Yan-yan,Liu Kai-zhou,Feng Xi-sheng.Bearings Only Target Motion Analysis Based on Strong Tracking Square-Root Cubature Kalman Filter[J].Computer Measurement&Control,2016,24(11):136-140.
[10]陈利斌.机动目标跟踪理论和算法的研究[D].西安:西北工业大学,2000:20-34.
[11]Behnamgol V,Vali A R,Mohammadi A.A New Adaptive Finite Time Nonlinear Guidance Law to Intercept Maneuvering Targets[J].Aerospace Science and Technology,2017,68:416-421.
[12]Wang Y,Wang H,Li Q.Methods of Target Motion Estimation for AUV Target Tracking[C]//IEEE International Conference on Mechatronics&Automation.Harbin,China:IEEE,2016:2139-2144.
[13]Yue C,Bo Y M,Wu P L,et al.Non-cooperative Space Target Tracking Based on Fuzzy Iterative Square-root Cubature Kalman Filter[J].Journal of Chinese Inertial Technology,2017,25(3):395-398,404.
[14]Yan Z G,Liang W G,Lv H D.A Target Tracking Algorithm Based on Improved Camshift and UKF[J].Journal of Software Engineering and Applications,2014,7(13):1065-1073.
[15]刘南江.水下目标跟踪控制策略研究[D].哈尔滨:哈尔滨工程大学,2008.
[16]Xu J,Wang M,Qiao L.Dynamical Sliding Mode Control for the Trajectory Tracking of Underactuated Unmanned Underwater Vehicles[J].Ocean Engineering,2015,105:54-63.
[17]Chun-yu J M,Qu Z,Pollak E,et al.Reactive Targettracking Control with Obstacle Avoidance of Unicycletype Mobile Robots in a Dynamic Environment[C]//American Control Conference(ACC).Marriott Waterfront,Baltimore,MD,USA:IEEE,2010:1190-1195.
[18]Yao P,Wang H,Su Z.Real-time Path Planning of Unmanned Aerial Vehicle for Target Tracking and Obstacle Avoidance in Complex Dynamic Environment[J].Aerospace Science and Technology,2015,47:269-279.
[19]杨建,董密,淳于江民.新的动态环境中目标跟踪和避障的控制方法[J].计算机工程与应用,2012,48(15):220-226.Yang Jian,Dong Mi,Chun-yu Jiang-min.New Reactive Target-tracking and Obstacle Avoidance Control in Dynamic Environment[J].Computer Engineering and Applications,2012,48(15):220-226.