Hướng dẫn theo dõi theo đường thẳng được cấp chứng nhận an toàn cho phương tiện mặt nước không người lái trong khu vực nước bị hạn chế chịu ảnh hưởng của dòng hải lưu

Journal of Marine Science and Application - Tập 22 - Trang 602-613 - 2023
Zhouhua Peng1,2, Jianzhong Li1,2, Bing Han3,4, Nan Gu1,2
1School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China
2Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian, China
3Shanghai Ship and Shipping Research Institute Co., Ltd., Shanghai, China
4National Engineering Research Center of Ship & Shipping Control System, Shanghai, China

Tóm tắt

Bài báo này đề cập đến việc theo dõi đường thẳng không va chạm của một phương tiện mặt nước không người lái (USV) di chuyển trong một khu vực nước bị hạn chế và phải chịu ảnh hưởng của các chướng ngại vật cố định và di động. Các hệ thống USV thường gặp phải các ràng buộc về tốc độ dồn nén, tốc độ quay và dòng hải lưu không xác định. Tại đây, một phương pháp hướng dẫn theo đường nhìn (LOS) có cấp chứng nhận an toàn được đề xuất nhằm đạt được nhiệm vụ theo dõi đường thẳng trong các điều kiện bị hạn chế. Đầu tiên, một luật hướng dẫn LOS chống nhiễu được thiết kế dựa trên sơ đồ hướng dẫn LOS và một bộ quan sát trạng thái mở rộng. Hơn nữa, việc tránh va chạm với các ranh giới tuyến đường và các chướng ngại vật cố định/di động được mã hóa trong các hàm rào cản điều khiển, bằng cách sử dụng đó mà các ràng buộc về an toàn được chuyển đổi thành các ràng buộc đầu vào. Cuối cùng, các tín hiệu hướng dẫn có cấp chứng nhận an toàn được thu được bằng cách giải bài toán lập trình bậc hai với các ràng buộc đầu vào. Sử dụng phương pháp hướng dẫn LOS được cấp chứng nhận an toàn được đề xuất, USV có thể thực hiện nhiệm vụ theo dõi đường thẳng với đảm bảo an toàn từ đầu vào đến trạng thái. Kết quả mô phỏng chứng minh hiệu quả của phương pháp hướng dẫn LOS có cấp chứng nhận an toàn được đề xuất cho việc theo dõi đường thẳng của USVs di chuyển trong khu vực nước bị hạn chế chịu ảnh hưởng của các dòng hải lưu không xác định.

Từ khóa

#phương tiện mặt nước không người lái #hướng dẫn theo đường nhìn #theo dõi đường thẳng #rào cản điều khiển #nhiễu loạn #dòng hải lưu

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