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Local obstacle avoidance considering UUV moving object sliding mode tracking control method

A technology for tracking control and moving targets, which is applied in the target tracking field of underwater unmanned vehicles

Active Publication Date: 2016-09-21
HARBIN ENG UNIV
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Problems solved by technology

The research on the UUV underwater environment is not yet mature enough, and there are few considerations for the obstacles that may occur during the execution of the established target trajectory tracking in the dynamic environment. Even if there is real-time motion planning, it is rarely combined with the UUV dynamic model and maneuverability Realized by motion control

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  • Local obstacle avoidance considering UUV moving object sliding mode tracking control method
  • Local obstacle avoidance considering UUV moving object sliding mode tracking control method
  • Local obstacle avoidance considering UUV moving object sliding mode tracking control method

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with accompanying drawing:

[0051] When UUV performs tasks such as recovery and docking, it needs to follow and track specific targets. For complex underwater environments, random obstacles (ships, plankton, underwater garbage, etc.) will inevitably appear on the track of target movement routes. The invention provides a simple and effective UUV dynamic environment tracking control method.

[0052] figure 1 It is the overall working block diagram of the present invention, which is mainly divided into four parts: UUV model and detection system, target state estimation, dynamic programming module and non-singular terminal sliding mode controller. The positions of targets and obstacles are obtained by the UUV sonar detection system, and the UUV Status information is determined by its integrated navigation system, combined with Figure 9 Describe the specific steps of the present invention.

[0053] Ste...

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Abstract

The invention provides a local obstacle avoidance considering UUV moving object sliding mode tracking control method, which comprises the steps of detecting position information of a UUV, a moving object and an obstacle in real time, acquiring state estimation of the moving object at the moment k, building a relative motion model of the UUV, the moving object and the obstacle, autonomously switching between a tracking strategy and an obstacle avoidance strategy according to the relative positions of the UUV, the moving object and the obstacle based on the size of the object tracking radius and the obstacle avoidance safety radius, acquiring tracking control deviation according to the measurement feedback of the instruction speed, the course, the UUV navigation speed and the course changing angular speed, and carrying out calculation based on a horizontal plane non-singular terminal sliding mode controller so as to acquire thrust of a UUV propeller and course changing torque of a rudder at the moment k, and executing the above steps in a cyclic manner so as to realize tracking control for the moving object at the next moment. According to the invention, a local planning strategy in the complex environment is combined with a UUV dynamics model, and the tracking accuracy of the moving object is ensured under the premise the UUV navigation safety.

Description

technical field [0001] The invention relates to a target tracking method for an underwater unmanned vehicle, in particular to a moving target tracking method for an underwater unmanned vehicle. Background technique [0002] With the increase of UUV mission tasks and application fields, the ability requirements for UUV target tracking have also been greatly improved. It is required not only to identify stationary targets (such as rescue positioning to reach the crash point as soon as possible, mineral mining, pipeline positioning and maintenance), but also to track Maneuvering targets, making adaptive adjustments by predicting target state changes to avoid losing tracked objects. [0003] At present, the research on moving target tracking is mainly concentrated in aerospace and other fields, mainly referring to target state estimation based on Kalman and particle filter; Attraction methods; artificial potential field, fuzzy collision avoidance and other autonomous obstacle a...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 严浙平陈烨侯茹萍周佳加张伟罗朋飞
Owner HARBIN ENG UNIV
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