Harbour protection: moving invasion target interception for multi-AUV based on prediction planning interception method
Harbour protection: moving invasion target interception for multi-AUV based on prediction planning interception method
复制标题
港口防护：基于预测规划拦截方法的多AUV移动入侵目标拦截
DOI：
10.1016/j.oceaneng.2020.108268
复制
发表时间：
2021
影响因子：
5
通讯作者：
Zhu Daqi
中科院分区：
文献类型：
--
作者：
Meng Xiangqiao;Sun Bing;Zhu Daqi
近年来，港口安全保护受到广泛关注。针对海流作用下水下运动入侵目标的拦截问题，提出了一种多AUV的预测规划拦截算法（PPI）。首先通过对目标的运动跟踪快速简单地确定拦截位置，然后利用人工势场法规划环境中各AUV的拦截路径。当目标被任何AUV拦截时，它被认为是成功的拦截。在多变复杂的水下环境中，水下机器人可以利用PPI方法对轨迹沿着相对较短路径动态变化的运动目标进行快速拦截。仿真结果表明，在不同条件下，预测规划拦截方法的拦截效率较传统跟踪拦截方法有很大提高。
In recent years, harbour security protection has received extensive attention. For the moving invasion target interception problem in the underwater environment with ocean current, a new interception algorithm with multiple autonomous underwater vehicles (multi-AUV) called prediction planning interception (PPI) method is proposed in this paper. First, the interception position is determined quickly and simply through the movement tracking of target, and then the intercept path of each AUV in the environment is planned by the artificial potential field method. When the target is intercepted by any AUV, it is considered a successful interception. The AUV can rapidly intercept the moving target whose trajectory is dynamically changing along relatively short path in the changeable and complicated underwater environment by PPI method. The simulation results show that the interception efficiency of the prediction planning interception method is greatly improved compared with the traditional tracking interception method under different conditions.