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RESEARCH ON AUTONOMOUS NAVIGATION CONTROL OF UNDERWATER VEHICLES

水下航行器自主导航控制研究

基本信息

批准号：
02650314
负责人：
MIYAJIMA Shogo
金额：
$ 1.34万
依托单位：
UNIVERSITY OF TOKYO
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1990
资助国家：
日本
起止时间：
1990 至 1992
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-02650314/
关键词：
Underwater Vehicle Autonomous Navigation Maneuverability Control AI Unmanned Vehicle Untethered Vehicle Underwater Technology

项目摘要

The development of a control architecture for an autonomous underwater vehicle(AUV) is discussed. A simple mission, feasible in the ocean environment, is considered in order to allow the development of an architecture that can be implemented soon, and tested in the real world.A number of control systems implemented in robots nowadays show a high degree of reactivity. They provide a more robust and viable operation in real-time than the traditional approaches that include a sequence of environment analysis, planning and execution. However, such reactive systems have been concerned with the execution of primitive actions like collision avoidance and low-level path planning.We intend to investigate the implementation of high-level goal-directed tasks in a real-mission. A parallel object-oriented concurrent system based on hardware performance as well as the control structure of the vehicle. The software is intended to represent a group of experts that communicate among themselves through message passing. They form a cooperative system for mission planning and execution. This approach is aimed for an integration of reactivity and high-level goal-directed reasoning.The development of this control system related to the problem of navigation and guidance near the sea bed is emphasized. A collision avoidance system based assisted by a grid map has been investigated, and some preliminary results of simulation are presented.

讨论了自主水下航行器（AUV）控制结构的发展。一个简单的使命，在海洋环境中可行的，被认为是为了允许开发的架构，可以很快实施，并在真实的世界中进行测试。与包括一系列环境分析、规划和执行的传统方法相比，它们提供了更强大、更可行的实时操作。然而，这样的反应式系统一直关注的原始动作，如碰撞避免和低层次的路径规划的执行。我们打算调查的高层次的目标导向的任务在一个真实的任务的实施。提出了一种基于硬件性能和车辆控制结构的并行面向对象并发系统。该软件旨在代表一组通过消息传递相互通信的专家。它们形成了一个使命规划和执行的合作系统。这种方法的目的是集成反应性和高层次的目标导向推理。这种控制系统的发展有关的导航和制导问题的海底附近的重点。本文研究了一种基于栅格地图的船舶避碰系统，并给出了初步的仿真结果。