摘要
针对目前水下AUV局限于二维海域、运动影响因素单一而产生的目标不可达问题,在拉格朗日海洋学模型的基础上,提出适用于水下三维环境的AUV运动仿真研究。对传统的二维海域进行升维处理,同时对海洋中可能出现的水下障碍物采用人工势场法进行智能避障,为水下自组织网络路由协议设计提供重要依据。仿真结果表明,AUV实现在三维水下自组织网络的移动轨迹监测,可避开系统设置的多重模拟障碍实现智能避障功能。
For the problem that the unreachable target of the current underwater autonomous submarine AUV movement trajectory is limited to the two-dimensional sea area an I-LOM movement model suitable for the underwater three-dimensional environment and implementing the obstacle avoidance strategy is proposed.The Lagrangian oceanographic motion model is improved from two aspects the dimensions of the two-dimensional sea area is optimized,and at the same time the artificial potential field method for the underwater obstacles that may appear in the ocean,and use the virtual occasion force is used to achieve obstacle avoidance optimization.the AUV motion simulation in the three-dimensional sea area is obtained and the I-LOM movement model is obtained,which provids an important basis for the design of the routing protocol of the underwater self-organizing network.The simulation results show that the AUV using the I-LOM movement model realizes the movement trajectory monitoring in the three-dimensional underwater self-organizing network,and basically realizes the intelligent obstacle avoidance function.
作者
解羽
谭小波
于立婷
XIE Yu;TAN Xiaobo;YU Liting(Shenyang Ligong University,Shenyang 110159,China)
出处
《沈阳理工大学学报》
CAS
2020年第2期1-6,共6页
Journal of Shenyang Ligong University
基金
国家自然科学基金资助项目(60151308)
辽宁省教育厅项目(L2015465)。
关键词
水下自主潜航器
拉格朗日海洋学模型
水下障碍物
人工势场法
autonomous underwater vehicle
Lagrange oceanographic model(LOM)
underwater obstacle
artificial potential field method
