水下遥控车辆与静止障碍物碰撞时的自主控制

IF 2 3区工程技术 Q2 ENGINEERING, MARINE

Polish Maritime Research Pub Date : 2022-12-01 DOI:10.2478/pomr-2022-0043

R. Smierzchalski, Maciej Kapczyński

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引用次数: 1

摘要

摘要研究了水下遥控机器人(mini遥控机器人，ROV)在与静止障碍物碰撞情况下的自主控制问题。针对检测到的静止障碍物，将避碰过程的控制作为模糊比例微分控制器的综合，用于距离和方向的控制。水下航行器的沉深控制被作为一个单独的控制流。描述并讨论了一种利用激光视觉系统(LVS)和与惯性测量单元(IMU)耦合的压力传感器获取水下航行器相对于检测到的静止障碍物的主要运动参数的方法。通过仿真试验和小型ROV在试验池中的实验，验证了所设计的模糊避碰控制器的计算机实现结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Abstract The article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence depth of the underwater vehicle has been adopted as a separate control flow. A method to obtain the main motion parameters of the underwater vehicle relative to the detected stationary obstacle using a Laser-based Vision System (LVS) and a pressure sensor coupled to an Inertial Measurement Unit (IMU) is described and discussed. The result of computer implementation of the designed fuzzy controllers for collision avoidance is demonstrated in simulation tests and experiments carried out with the mini ROV in the test pool.

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来源期刊

Polish Maritime Research 工程技术-工程：海洋

CiteScore

3.70

自引率

45.00%

发文量

审稿时长

>12 weeks

期刊介绍： The scope of the journal covers selected issues related to all phases of product lifecycle and corresponding technologies for offshore floating and fixed structures and their components. All researchers are invited to submit their original papers for peer review and publications related to methods of the design; production and manufacturing; maintenance and operational processes of such technical items as: all types of vessels and their equipment, fixed and floating offshore units and their components, autonomous underwater vehicle (AUV) and remotely operated vehicle (ROV). We welcome submissions from these fields in the following technical topics: ship hydrodynamics: buoyancy and stability; ship resistance and propulsion, etc., structural integrity of ship and offshore unit structures: materials; welding; fatigue and fracture, etc., marine equipment: ship and offshore unit power plants: overboarding equipment; etc.