摘要
为了提高无人船在复杂的环境下自主航行与避碰的适应能力,设计了一种兼顾反应式行为和智能决策行为的混合式体系结构控制系统。该系统在普通的三层分层递阶控制系统上加入分析层,该层包括信息分析与行为分析两个模块,两模块采用基于权重的方法将无人船航行事件划分优先级,高优先级事件(避碰)通过反应式行为执行,而低优先级事件(自主航行)通过智能决策行为执行。通过无人船自主航行与避碰实验验证了该系统能在实时避碰的情况下满足自主航行要求。
In order to improve the unmaned ship＇s abilities of autonomous navigation and collision avoidance in the complex environment, a control system based on the hybrid architecture which includes both reactive behavior and intelligent decisionmaking behavior is desgined. The system adds the analysis layer which includes the information analysis and the action analysis into ordinary three-layer hierarchical control system. The analysis layer adopts the weighting method to prioritize the ship sailing events. The high-priority event （collision avoidance） is carried out through reactive behavior, and low priority event （autonomous navigation） is carried out through intelligent decision-making behavior. The unmanned ship autonomous navigation and collision experiment verified that the system can satisfy the requirements of real-time collision avoidance in autonomous navigation.
出处
《船海工程》
北大核心
2016年第3期39-42,共4页
Ship & Ocean Engineering
基金
湖北省自然科学基金(2015CFA111)
关键词
无人船
控制系统
混合体系
优先级
unmanned ship
control system
hybrid architecture
priority-based
