Multi-AUV self-adaptive target searching and obstacle avoidance method oriented to unknown environment

A technology for target search and unknown environment, applied in the field of intelligent control of underwater unmanned vehicles, which can solve the problems of unknown global information, inability to achieve efficient search effect and real-time adaptation to the environment, and difficult independent support for algorithms.

Active Publication Date: 2018-09-28
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

Some scholars have carried out local track adjustment in the multi-AUV search process for some unknown environments, but they cannot achieve efficient search results and real-time adaptability to the environment in completely unknown environmen

Method used

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  • Multi-AUV self-adaptive target searching and obstacle avoidance method oriented to unknown environment
  • Multi-AUV self-adaptive target searching and obstacle avoidance method oriented to unknown environment
  • Multi-AUV self-adaptive target searching and obstacle avoidance method oriented to unknown environment

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Embodiment Construction

[0142] The following examples describe the present invention in more detail.

[0143] Step 1: Analyze the influencing factors of the multi-AUV cooperative target search task in an unknown environment;

[0144] Task impact mainly includes the following points:

[0145] Multiple AUVs need to cooperate to complete, so as to share data resources and clear task assignment;

[0146] 1. The detection range of AUV forward-looking sonar is limited, and the farther the target distance is, the greater the noise interference will be, and the lower the positioning accuracy will be.

[0147] 2. In an unknown environment, AUV must be able to ensure its own safety, avoid obstacles, and make corresponding state adjustments according to environmental changes.

[0148] Step 2: Establish the environment model of the search task area, the forward-looking sonar model and the characteristics of the target;

[0149] Search task area model: Assuming that the search task is an unknown large-scale re...

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Abstract

The invention discloses a multi-AUV self-adaptive target searching and obstacle avoidance method oriented to an unknown environment, and the method is suitable for multi-AUV target searching under anunknown complex underwater environment. The method is mainly divided into three modes including a target mode, a non-target mode, and an obstacle avoidance mode. In the target mode, the self-adaptivesearching is achieved through dynamic real-time prediction according to the target information for sensing the outside; in the non-target mode, full-area coverage searching and collaborative planningtasks are achieved through a sub-area strategy; and in the obstacle avoidance mode, the barrier threat is avoided in real time based on the improved dynamic window method. According to different underwater environment information, a multi-AUV target searching task is executed through alternate mode switching among the three modes, and the uncertain information under the unknown water can be dealtwith, the credible interval of the target state information is guaranteed, and environment adaptability and searching efficiency are achieved.

Description

technical field [0001] The invention relates to an intelligent control method for an underwater unmanned vehicle, in particular to a method for target search and obstacle avoidance for multiple AUVs in an unknown environment. Background technique [0002] In modern marine activities, the cooperation of multiple AUVs has become an inevitable trend. Compared with a single AUV, multiple AUVs can improve operational efficiency and task robustness. Due to the complexity of the underwater environment and the uncertainty of the target state, it is impossible for multiple AUVs to fully obtain the target information of the mission environment in advance during operation planning. Facing the unknown and complex underwater environment, multi-AUV must have the ability of real-time planning and target search. [0003] At present, the target search methods of most AUV clusters are based on the known environment or part of the known environment. The search track is pre-planned offline. Fa...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 李娟张建新张秉健袁锐锟杜雪管凤旭
Owner HARBIN ENG UNIV
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