基于规避知识库的无人艇智能避障模型构建
|
摘要
智能避障技术是无人艇自主航行的关键部分,论文以国际海事规则为基础,提取了相关危险避障规则,给出了合理的避障知识推理流程,构建了避障知识库,最后采用A星算法进行智能避障决策得到全局路径,为无人艇智能避障技提供了一条新的技术途径。
Intelligent obstacle avoidance technology is the key part of autonomous navigation of UAV. Based on international maritime rules,this paper extracts relevant dangerous obstacle avoidance rules,gives reasonable knowledge process of risk obstacle avoidance,constructs risk obstacle avoidance knowledge base,and finally uses A-star algorithm to make intelligent risk obstacle avoidance decision to get the global path,which provides a new technical way for intelligent obstacle avoidance of UAV.
Intelligent obstacle avoidance technology is the key part of autonomous navigation of UAV. Based on international maritime rules,this paper extracts relevant dangerous obstacle avoidance rules,gives reasonable knowledge process of risk obstacle avoidance,constructs risk obstacle avoidance knowledge base,and finally uses A-star algorithm to make intelligent risk obstacle avoidance decision to get the global path,which provides a new technical way for intelligent obstacle avoidance of UAV.
引文
[1]Caccia M,Bibul M,Bono R,et a1.Basic navigation,guidance and control of an unmanned surface vehicle[J].Autonomous Robots,2008,25(4):349-365.
[2]Yan Rujian,Pang Shuo,Sun Hanbing,et a1.Development and missions of unmanned surface vehicle[J].Journal of Marine Science and Application,2010,9(4):45l-457.
[3] Hansen.Eric, Huntsberger.Terry, Elkins.Les. Autonomous maritime navigation developing autonomy skill sets for USVs[J]. Proceedings of SPIE-The International Society for Optical Engineering. Unmanned Systems Technology,2006,8(6230):17-20.
[4]薛彦卓,魏伊,孙淼.基于避碰重点船算法的多船避碰模拟[J].大连海事大学学报,2014,40(1):13-16.
[5]郑中义.船舶自动避碰决策系统的研究[D].大连:大连海事大学,2000.
[6]Campbell S,Naeem W. A rule-based heuristic method for COLREGS-compliant collision avoidance for an unmanned surface vehicle[C]//9th IFAC Conference on Maneuvering and Control of Marine Craft,MCMC 2012.
[7]Tam C K. Collision risk assessment for ships[J].Journal of Marine Science and Technology,2010,15(3):257-270.
[8]赵邦良.船舶值班与避碰[J].大连:大连海事学出版社,2007:15-35.
[9]孙立成.船舶避碰决策数学模型的研究[D].大连:大连海事大学,2000.
[10]李恩,梁自泽,谭民.基于规则库的巡线机器人自主越障动作划[J].机器人.2005,27(5):400-405.
[11]徐丽平,张俊卿,姜利群等.基于知识库的知识发现的研究[J].计算机工程与设计,2008,29(10):2689-2694.
[12]丁杰敏.基于知识库的决策支持系统关键技术研究[J].信息与电脑.2010,01:49-52.
[13]徐国强,分布式决策知识表示与推理机制研究[D].青岛:中国海洋大学,2007.
[2]Yan Rujian,Pang Shuo,Sun Hanbing,et a1.Development and missions of unmanned surface vehicle[J].Journal of Marine Science and Application,2010,9(4):45l-457.
[3] Hansen.Eric, Huntsberger.Terry, Elkins.Les. Autonomous maritime navigation developing autonomy skill sets for USVs[J]. Proceedings of SPIE-The International Society for Optical Engineering. Unmanned Systems Technology,2006,8(6230):17-20.
[4]薛彦卓,魏伊,孙淼.基于避碰重点船算法的多船避碰模拟[J].大连海事大学学报,2014,40(1):13-16.
[5]郑中义.船舶自动避碰决策系统的研究[D].大连:大连海事大学,2000.
[6]Campbell S,Naeem W. A rule-based heuristic method for COLREGS-compliant collision avoidance for an unmanned surface vehicle[C]//9th IFAC Conference on Maneuvering and Control of Marine Craft,MCMC 2012.
[7]Tam C K. Collision risk assessment for ships[J].Journal of Marine Science and Technology,2010,15(3):257-270.
[8]赵邦良.船舶值班与避碰[J].大连:大连海事学出版社,2007:15-35.
[9]孙立成.船舶避碰决策数学模型的研究[D].大连:大连海事大学,2000.
[10]李恩,梁自泽,谭民.基于规则库的巡线机器人自主越障动作划[J].机器人.2005,27(5):400-405.
[11]徐丽平,张俊卿,姜利群等.基于知识库的知识发现的研究[J].计算机工程与设计,2008,29(10):2689-2694.
[12]丁杰敏.基于知识库的决策支持系统关键技术研究[J].信息与电脑.2010,01:49-52.
[13]徐国强,分布式决策知识表示与推理机制研究[D].青岛:中国海洋大学,2007.