上海交通大学学报

上海交通大学学报 >

2020 , Vol. 54 >Issue 3: 295 - 304

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2020.03.009

学报（中文）

基于零空间行为法的自主水下机器人避障策略

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  • 上海交通大学 海洋智能装备与系统教育部重点实验室； 海洋工程国家重点实验室， 上海 200240
庞师坤（1987-），男，安徽省宿州市人，博士生，主要从事水下机器人控制研究.

网络出版日期: 2020-04-09

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Collision Avoidance Strategy for Autonomous Underwater Vehicle Based on Null-Space-Based Behavioral Approach

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  • Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education; State Key Laboratory of Ocean Engineering, Shanghai 200240, China

Online published: 2020-04-09

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摘要

针对自主水下机器人(AUV)在复杂海底环境驶向目标点的过程中可能遇到动静态障碍物的问题，设计了基于零空间行为(NSB)法的避障策略.首先将AUV驶向目标点的整体任务分解成不同的子任务，并把避障子任务设为最高优先级任务；对于多任务控制目标，将由低优先级任务向量向高优先级任务向量的零空间进行投影得到的综合任务向量作为最终输出函数；在完成高优先级任务的同时，部分或全部完成低优先级任务，以避免各任务目标的相互冲突.随后根据不同子任务的优先级设计相应的任务函数，研究了针对静态和动态障碍物的避障策略；推导并建立了AUV运动的综合输出函数，以确保其在驶向目标点的过程中对不同类型障碍物进行有效规避.模拟计算结果证明该方法是有效的和可行的，在复杂障碍物环境中能够达到预期的避障效果.

关键词： 零空间行为法； 自主水下机器人； 避障

本文引用格式

庞师坤，梁晓锋，李英辉，易宏 . 基于零空间行为法的自主水下机器人避障策略[J]. 上海交通大学学报, 2020 , 54(3) : 295 -304 . DOI: 10.16183/j.cnki.jsjtu.2020.03.009

Abstract

An autonomous underwater vehicle (AUV) obstacle avoidance strategy based on null-space-based behavioral (NSB) approach is designed, aiming at solving dynamic or static obstacle avoidance problem the AUV will encounter while moving to the target in complex underwater environment. Firstly, the AUV overall task moving to the target is decomposed into different subtasks, and the obstacle avoidance subtask is set as the highest priority. As for multi-task control targets, the low-level task vector is projected to the null space of the higher task vector, and the integrated task output is used as the final output function. The low-level task is partially or completely completed while completing the higher task, thereby the mutual conflict between different level targets can be avoided in this way. In order to study the obstacle avoidance strategy for static and dynamic obstacles, the corresponding task functions are designed in accordance with different subtask priorities. The comprehensive output function of AUV motion is deduced and established to ensure that it can avoid different types of obstacles effectively in the process of heading to the target point. The simulation results demonstrate the effectiveness and the feasibility of the proposed method, which could achieve an expected obstacle avoidance effect in complex underwater obstacle environments.

Key words： null-space-based behavioral (NSB) approach; autonomous underwater vehicle (AUV); obstacle avoidance

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