摘要
[目的]无人艇(USV)进行目标跟踪时,采用相对固定跟踪点位(RFTP)策略得到的参考轨迹含有拐点,导致跟踪不稳定,针对该问题提出相对时变跟踪点位(RTTP)策略以提高跟踪的稳定性。[方法]首先,使用一阶滞后滤波对目标艇艏向变化量进行处理;然后,根据滤波后的数据设计时变跟踪点位,将目标跟踪问题转化为轨迹跟踪问题,并得到参考轨迹;最后,使用模型预测控制(MPC)方法实现对目标艇的跟踪。[结果]仿真结果表明,USV在RTTP策略下的跟踪效果更稳定,跟踪距离均方根差(RMSE)下降了28.06%,能耗降低了5.93%,且控制量更加平稳。[结论]相比传统的RFTP策略,采用RTTP策略可有效提高USV目标跟踪的稳定性,为USV的目标跟踪提供了新策略。
[Objective]Target tracking is an important application of unmanned surface vehicles(USVs).This study proposes a relative time-varying tracking position(RTTP)strategy to improve the tracking stability and address the problem that the reference trajectory obtained by the relative fixed tracking position(RFTP)strategy contains inflection points and leads to tracking instability.[Methods]A first-order hysteresis filter is used to process the target USV's heading variation.The time-varying tracking position is then designed according to the filtered data,the target tracking problem is transformed into a trajectory tracking problem and the reference trajectory is obtained.Finally,model predictive control(MPC)is used to achieve the tracking of the target USV.[Results]The simulation experimental results show that the tracking effect of the USV under the RTTP strategy is more stable with the root mean square error(RMSE)of the tracking distance decreased by 28.06%and the energy consumption reduced by 5.93%.It also has advantages in the smoothness of the control volume.[Conclusions]Compared with the traditional RFTP strategy,the proposed RTTP strategy can effectively improve the stability of USV target tracking,giving it practical significance for the target tracking of USVs.
作者
柳俊杰
王健
王幸
汪俊
梁晓锋
LIU Junjie;WANG Jian;WANG Xing;WANG Jun;LIANG Xiaofeng(Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China;China Ship Development and Design Center,Wuhan 430064,China)
出处
《中国舰船研究》
CSCD
北大核心
2024年第1期169-177,共9页
Chinese Journal of Ship Research
基金
上海交通大学深蓝计划资助项目(SL2022MS003)。
关键词
无人艇
目标跟踪
相对固定跟踪点位
相对时变跟踪点位
unmanned surface vehicle
target tracking
relative fixed tracking position strategy
relative time-varying tracking position strategy
