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Quality-guaranteed Dubins Path Planning for USV Based on Mixed-integer Piecewise linear Programming for Addressing the Extended Minimum-time Intercept Problem 认领 引用 被引量：1
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作者 Xing Zhou Kelin Zhu +3 位作者 Shuang Liu Zhaoqing Li Wenxin Zhang Kang Du 《哈尔滨工程大学学报（英文版）》 CSCD 2026年第1期216-227,共12页
During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive... During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h2/(4√2),where h is the piecewise length. 展开更多
关键词 Minimum-time intercept problem Dubins vehicle Mixed-integer piecewise-linear program Linearization Approximate error trigonometric function USV
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USV集群对正态分布目标的拦截任务筹划:布阵设计、方案实现与概率计算 认领 引用
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作者 王晓玲 徐英杰 +2 位作者 徐伟辰 刘浏 苏厚胜 《自动化学报》 EI CAS CSCD 北大核心 2026年第4期846-864,共19页
移动目标出现的时空信息不确定性为水面无人艇(USV)集群拦截带来巨大挑战.针对出现位置服从正态分布、出现时间服从均匀分布的水面移动目标,开展USV集群对这类移动目标的拦截任务筹划研究.首先,在USV集群的布阵设计阶段,结合目标出现位... 移动目标出现的时空信息不确定性为水面无人艇(USV)集群拦截带来巨大挑战.针对出现位置服从正态分布、出现时间服从均匀分布的水面移动目标,开展USV集群对这类移动目标的拦截任务筹划研究.首先,在USV集群的布阵设计阶段,结合目标出现位置的正态分布特性,提出USV集群“非均匀”布阵设计方案,生成与目标出现位置的正态分布特性相匹配的优化拦截线;其次,分别通过预设时间控制、主从一致性等关键技术,实现USV集群入阵、定速跟踪以及协同撤收,三者共同完成USV集群对移动目标的拦截控制;最后,根据正态分布概率密度函数特性,给出该拦截方案下USV集群对该类移动目标拦截概率的解析表达式.研究表明,该方案能显著应对目标出现的时空不确定性,显著提升了对该类移动目标的拦截效能. 展开更多
关键词 正态分布目标 USV集群 目标拦截 集群布阵 USV控制
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Triggering and control codesign in robust self-triggered DMPC for trajectory tracking control of multi-USV system 认领 引用
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作者 Qifan Yang Huiping Li 《Control Theory and Technology》 EI CSCD 2026年第2期240-249,共10页
This paper considers the tracking problem of a fleet of unmanned surface vehicles(USVs)subject to low state feedback frequencies,disturbances,and communication delays.Influenced by the high computational complexity of... This paper considers the tracking problem of a fleet of unmanned surface vehicles(USVs)subject to low state feedback frequencies,disturbances,and communication delays.Influenced by the high computational complexity of localization algorithms,the low-frequency state feedback brings challenges in fulfilling the high-frequency control requirement for USVs.Therefore,a novel self-triggered distributed model predictive control(ST-DMPC)approach,with a codesign dual-model control strategy,is proposed.By simultaneously optimizing control inputs and triggering intervals,this approach achieves expected control performance comparable to high-frequency control under low state feedback frequencies.Furthermore,sufficient conditions for ensuring recursive feasibility and closed-loop system stability are derived.Finally,a numerical experiment and comparison study are conducted to demonstrate the efficacy of the proposed approach. 展开更多
关键词 Distributed model predictive control Self-triggered control USVs Trajectory tracking
面向复杂封闭水域的USV安全高效路径规划方法 认领 引用
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作者 伊善强 姚绪飞 +2 位作者 杜新 王力 田佰军 《船舶工程》 CSCD 北大核心 2026年第8期211-220,共10页
[目的]为解决无人水面艇(USV)在复杂封闭水域路径规划中安全性与计算效率难以兼顾的问题,研究一种面向通航风险约束的高安全性路径规划方法。[方法]构建风险梯度驱动的栅格地图(RG-Map),依据障碍物邻域距离量化通航风险梯度;在跳点搜索(... [目的]为解决无人水面艇(USV)在复杂封闭水域路径规划中安全性与计算效率难以兼顾的问题,研究一种面向通航风险约束的高安全性路径规划方法。[方法]构建风险梯度驱动的栅格地图(RG-Map),依据障碍物邻域距离量化通航风险梯度;在跳点搜索(JPS)框架下,提出融合路径长度与累积风险的混合代价函数实现全局引导,设计安全优先剪枝策略与启发函数动态加权机制以自适应调节搜索过程;进而采用3次B样条曲线对规划路径进行平滑处理,以满足USV运动学约束。[结果]在多组典型封闭水域场景下的仿真表明,与传统JPS算法相比,所提改进跳点搜索(IJPS)算法在累积通航风险上降低约45%,安全裕度显著提升;计算耗时与传统JPS方法保持同一量级,效率损失在可接受范围内;经B样条平滑后的路径曲率连续、航向过渡平顺。[结论]结果表明,所提方法在封闭水域复杂环境中能够有效协调路径安全性与计算效率,提升了USV规划路径的可执行性,具有良好的工程应用前景。 展开更多
关键词 无人水面艇(USV) 封闭水域 路径规划 风险梯度 改进跳点搜索算法(IJPS)
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Hybrid path planning for USVs using improved A*and DWA 认领 引用
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作者 WANG Guangwei YANG Le +2 位作者 TAN Zhikun LI Yichen YU Wenbin 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2026年第1期45-63,共19页
A safe and reliable path planning algorithm is fundamental for unmanned surface vehicles(USVs)to perform autonomous navigation tasks.However,a single global or local planning strategy cannot fully meet the requirement... A safe and reliable path planning algorithm is fundamental for unmanned surface vehicles(USVs)to perform autonomous navigation tasks.However,a single global or local planning strategy cannot fully meet the requirements of complex maritime environments.Global planning alone cannot effectively handle dynamic obstacles,while local planning alone may fall into local optima.To address these issues,this paper proposes a multi-dynamic-obstacle avoidance path planning method that integrates an improved A*algorithm with the dynamic window approach(DWA).The traditional A*algorithm often generates paths that are too close to obstacle boundaries and contain excessive turning points,whereas the traditional DWA tends to skirt densely clustered obstacles,resulting in longer routes and insufficient dynamic obstacle avoidance.To overcome these limitations,improved versions of both algorithms are developed.Key points extracted from the optimized A*path are used as intermediate start-destination pairs for the improved DWA,and the weights of the DWA evaluation function are adjusted to achieve effective fusion.Furthermore,a multi-dynamic-obstacle avoidance strategy is designed for complex navigation scenarios.Simulation results demonstrate that the USV can adaptively switch between dynamic obstacle avoidance and path tracking based on obstacle distribution,validating the effectiveness of the proposed method. 展开更多
关键词 multiple dynamic obstacles A*algorithm dynamic window approach(DWA) unmanned surface vehicle(USV) path planning collision avoidance
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面向低成本USV编队的非线性轨迹优化与角度观测无源定位 认领 引用
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作者 于豪 王鑫 +2 位作者 彭皓 田阳超 郑州 《电光与控制》 CSCD 北大核心 2026年第7期94-99,114,共6页
针对在复杂水域环境中,基于角度观测的低成本定位设备常因测量误差而导致轨迹跳变、连续性差等问题,提出一种结合观测误差最小化与卡尔曼滤波算法的无源定位方法。首先,根据自适应功能阈值因子自动筛选异常噪声数据;其次,通过构建包含... 针对在复杂水域环境中,基于角度观测的低成本定位设备常因测量误差而导致轨迹跳变、连续性差等问题,提出一种结合观测误差最小化与卡尔曼滤波算法的无源定位方法。首先,根据自适应功能阈值因子自动筛选异常噪声数据;其次,通过构建包含角度误差与轨迹平滑项的联合目标函数,利用非线性最小二乘优化对目标估计位置进行迭代估计与修正,实现静态定位精度的有效提升;最后,将筛选过的数据输入卡尔曼滤波算法,实现在动态定位下精度的进一步提升。不同噪声强度下的角度观测仿真实验结果表明,与其他滤波算法相比,改进的方法在减小定位误差方面表现更优,尤其在高噪声条件下仍能保持高精度的位置估计准确度,具有良好的工程应用潜力和拓展价值。 展开更多
关键词 自适应最小二乘法 动态定位 交叉测向定位 无人艇编队
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基于堆叠时域图卷积网络和时空Transformer的USV集群轨迹预测与意图识别 认领 引用
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作者 余建 范慧丽 +1 位作者 许嘉 石廷超 《中国舰船研究》 CSCD 北大核心 2026年第3期307-316,共10页
[目的]在现代海战中,通过对敌方无人艇(USV)集群进行轨迹预测和意图识别可以为作战指挥提供决策支持信息,从而在进一步的对抗中获取优势。[方法]首先,提出一种基于堆叠时域图卷积网络(STGCN)和时空Transformer网络的预测模型(合并简称GS... [目的]在现代海战中,通过对敌方无人艇(USV)集群进行轨迹预测和意图识别可以为作战指挥提供决策支持信息,从而在进一步的对抗中获取优势。[方法]首先,提出一种基于堆叠时域图卷积网络(STGCN)和时空Transformer网络的预测模型(合并简称GST-Transformer),用于对敌方USV集群进行未来轨迹预测和意图识别。具体而言,在GST-Transformer中:设计的STGCN从USV集群历史轨迹中获取时间维度关联的交互特征;设计的时空Transformer采用时空双通道编码器机制,并行提取和融合敌方轨迹的时空特征。随后,基于交互特征和时空特征,利用生成式轨迹编码生成轨迹预测表征。最终,通过多头解码器分别生成敌方USV集群的未来轨迹和意图识别。[结果]使用模拟敌我双方USV集群对抗的仿真数据进行实验,结果表明所设计模型对轨迹预测任务具有良好的预测精度,与主流的Informer和GRU预测方法相比,其平均位移误差(ADE)降低25.72%,最终位移误差(FDE)降低16.27%。对作战意图识别任务也具有很好的准确度和区分度。[结论]所提出的GST-Transformer模型展现出高效的USV集群轨迹预测和意图识别能力,为现代海战指挥系统提供了新的技术支撑。 展开更多
关键词 无人艇 轨迹预测 意图识别 交互特征 运动规划 图卷积网络(GCN) 时空Transformer
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基于MQTT的USV集群声频传感器状态数据采集与监控 认领 引用
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作者 宋克 《电子制作》 2026年第7期71-75,共5页
本文设计并实现了基于MQTT的水面无人艇(USV)集群声频传感器状态数据采集与监控系统。构建了一个分布式的系统架构,利用MQTT协议的“发布-订阅”机制,MQTT代理服务器作为状态数据传输的核心,承担了声频传感器状态数据的集中管理与分发,... 本文设计并实现了基于MQTT的水面无人艇(USV)集群声频传感器状态数据采集与监控系统。构建了一个分布式的系统架构,利用MQTT协议的“发布-订阅”机制,MQTT代理服务器作为状态数据传输的核心,承担了声频传感器状态数据的集中管理与分发,实现了状态数据的采集与传输,保障了数据传输的可靠性与实时性,通过USV集群声频传感器状态数据可视化监控模块,实现了对声频传感器状态数据的深度分析与可视化显示,为用户提供了直观的决策支持。 展开更多
关键词 MQTT USV集群 声频传感器 数据采集与监控
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Development of Gesture-Changeable under-actuated Humanoid Robotic Finger 认领 引用 被引量：5
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作者 ZHANG Wenzeng CHE Demeng +1 位作者 CHEN Qiang DU Dong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS 2010年第2期142-148,共7页
Robotic fingers, which are the key parts of robot hand, are divided into two main kinds： dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fing... Robotic fingers, which are the key parts of robot hand, are divided into two main kinds： dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fingers can grasp objects self-adaptively, which makes them easy to control and low cost, on the contrary, under-actuated function makes fingers feel hard to grasp things agilely enough and make many gestures. For the purpose of designing a new finger which can grasp things dexterously, perform many gestures and feel easy to control and maintain, a concept called ＂gesture-changeable under-actuated＂ （GCUA） function is put forward. The GCUA function combines the advantages of dexterous fingers and under-actuated fingers： a pre-bending function is embedded into the under-actuated finger. The GCUA finger can not only perform self-adaptive grasping function, but also actively bend the middle joint of the finger. On the basis of the concept, a GCUA finger with 2 joints is designed, which is realized by the coordination of screw-nut transmission mechanism, flexible drawstring constraint and pulley-belt under-actuated mechanism. Principle analyses of its grasping and the design optimization of the GCUA finger are given. An important problem of how to stably grasp an object which is easy to glide is discussed. The force analysis on gliding object in grasping process is introduced in detail. A GCUA finger with 3 joints is developed. Many experiments of grasping different objects by of the finger were carried out. The experimental results show that the GCUA finger can effectively realize functions of pre-bending and self-adaptive grasping, the grasping processes are stable. The GCUA finger excels under-actuated fingers in dexterity and gesture actions and it is easier to control and cheaper than dexterous hands, becomes the third kinds of finger. 展开更多
关键词 robot technology robotic hand gesture-changeable under-actuation pre-bending self-adaptation
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Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization 认领 引用 被引量：6
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作者 Jiasen Wang Jun Wang Qing-Long Han 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2022年第11期1909-1923,共15页
This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequentia... This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations.The feasibility of the formulated optimization problem is guaranteed under derived conditions.The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure.Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method. 展开更多
关键词 Collaborative neurodynamic optimization receding-horizon planning trajectory planning under-actuated vehicles
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Adaptive Fuzzy Sliding Mode Control of Under-actuated Nonlinear Systems 认领 引用 被引量：6
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作者 Amir Hossein Davaie Markazi Mohammad Maadani +1 位作者 Seyed Hassan Zabihifar Nafiseh Doost-Mohammadi 《International Journal of Automation and computing》 CSCD 2018年第3期364-376,共13页
A new extension of the conventional adaptive fuzzy sliding mode control（AFSMC） scheme, for the case of under-actuated and uncertain affine multiple-input multiple-output（MIMO） systems, is presented. In particular,... A new extension of the conventional adaptive fuzzy sliding mode control（AFSMC） scheme, for the case of under-actuated and uncertain affine multiple-input multiple-output（MIMO） systems, is presented. In particular, the assumption for non-zero diagonal entries of the input gain matrix of the plant is relaxed. In other words, the control effect of one actuator can propagate from a subgroup of canonical state equations to the rest of equations in an indirect sense. The asymptotic stability of the proposed AFSM control method is proved using a Lyapunov-based methodology. The effectiveness of the proposed method for the case of under-actuated systems is investigated in the presence of plant uncertainties and disturbances, through simulation studies. 展开更多
关键词 Adaptive fuzzy sliding mode control （AFSMC） nonlinear systems uncertain systems under-actuated systems remoteenvironmental monitoring units （REMUS）.
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Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints 认领 引用 被引量：2
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作者 Wei Sun Wen-Xing Yuan Yu-Qiang Wu 《International Journal of Automation and computing》 CSCD 2018年第6期728-735,共8页
Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and under-actuated joints in the presence of uncertainties in this paper. Dynamic equation of mobile mani... Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and under-actuated joints in the presence of uncertainties in this paper. Dynamic equation of mobile manipulator is transformed into a controllable form based on dynamic coupling technique. In view of the asymptotic tracking idea and adaptive theory, adaptive controllers are proposed to achieve the desired control objective. Detailed simulation results confirm the validity of the control strategy. 展开更多
关键词 Tracking control affine constraints mobile manipulators under-actuated joints dynamic coupling
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Automatic collaborative water surface coverage and cleaning strategy of UAV and USVs 认领 引用 被引量：2
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作者 Tianping Deng Xiaohui Xu +3 位作者 Zeyan Ding Xiao Xiao Ming Zhu Kai Peng 《Digital Communications and Networks》 SCIE EI CSCD 2025年第2期365-376,共12页
As the problem of surface garbage pollution becomes more serious,it is necessary to improve the efficiency of garbage inspection and picking rather than traditional manual methods.Due to lightness,Unmanned Aerial Vehi... As the problem of surface garbage pollution becomes more serious,it is necessary to improve the efficiency of garbage inspection and picking rather than traditional manual methods.Due to lightness,Unmanned Aerial Vehicles(UAVs)can traverse the entire water surface in a short time through their flight field of view.In addition,Unmanned Surface Vessels(USVs)can provide battery replacement and pick up garbage.In this paper,we innovatively establish a system framework for the collaboration between UAV and USVs,and develop an automatic water cleaning strategy.First,on the basis of the partition principle,we propose a collaborative coverage path algorithm based on UAV off-site takeoff and landing to achieve global inspection.Second,we design a task scheduling and assignment algorithm for USVs to balance the garbage loads based on the particle swarm optimization algorithm.Finally,based on the swarm intelligence algorithm,we also design an autonomous obstacle avoidance path planning algorithm for USVs to realize autonomous navigation and collaborative cleaning.The system can simultaneously perform inspection and clearance tasks under certain constraints.The simulation results show that the proposed algorithms have higher generality and flexibility while effectively improving computational efficiency and reducing actual cleaning costs compared with other schemes. 展开更多
关键词 UAV USVs Collaborative cleaning Path planning Coverage Autonomous obstacle avoidance
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基于改进最小边际代价算法的多USV多AUV任务分配 认领 引用 被引量：3
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作者 白小山 佘桉奇 +1 位作者 郑心泉 吴宗泽 《控制与决策》 EI CSCD 北大核心 2025年第1期119-127,共9页
随着自主水下机器人(AUV)和无人水面艇(USV)在民用和军事领域的应用不断扩展, USV与AUV协同完成相关任务的作业模式受到了广泛关注.针对多USV和多AUV协同访问多目标点的任务分配问题进行研究,旨在最小化多USV和AUV系统访问所有目标点的... 随着自主水下机器人(AUV)和无人水面艇(USV)在民用和军事领域的应用不断扩展, USV与AUV协同完成相关任务的作业模式受到了广泛关注.针对多USV和多AUV协同访问多目标点的任务分配问题进行研究,旨在最小化多USV和AUV系统访问所有目标点的总旅行距离.首先,建立考虑通信约束和AUV最大航程约束的多USV多AUV协同多点访问任务分配问题的数学模型,并对问题的NP-hard属性进行分析.其次,提出一个两阶段任务分配算法:1)先利用最小边际代价算法构建各USV访问完所有水面目标点的路径,再采用最近插入策略分配水下目标点;2)通过多个邻域搜索算子对初始解进行优化,得到可行最终解.相对于已有流行的自组织映射算法,仿真实验表明所提出任务分配算法能在较短计算时间内得到质量较优的任务分配方案. 展开更多
关键词 任务分配 USV-AUV协同 启发式算法 协同控制 邻域搜索 通讯约束
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基于边角网条件平差的主从式USV协同导航算法 认领 引用 被引量：2
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作者 李倩 倪晓晗 +1 位作者 孙炎 徐贵鹏 《中国惯性技术学报》 EI CSCD 北大核心 2025年第11期1067-1074,共8页
为减小无人水面艇(USV)协同导航系统中测距、测角量测误差对协同导航性能的影响,提出一种基于边角网条件平差的主从式USV协同导航方法。首先,基于捷联式惯性导航系统误差方程构建从USV状态方程,同时利用多普勒计程仪测速信息以及主从US... 为减小无人水面艇(USV)协同导航系统中测距、测角量测误差对协同导航性能的影响,提出一种基于边角网条件平差的主从式USV协同导航方法。首先,基于捷联式惯性导航系统误差方程构建从USV状态方程,同时利用多普勒计程仪测速信息以及主从USV之间的相对距离、方位信息建立系统量测方程;进一步,针对两主一从式USV编队构型推导边角网条件平差数学模型,并通过消除闭合差估计艇间观测矢量平差,提高了USV间测距、测角精度;在此基础上,利用艇间观测矢量平差及其方差进行从USV导航状态估计并实现协同校正;最后,通过仿真实验验证算法的有效性。仿真实验结果表明,所提算法对从USV各导航状态估计精度均有所提高。与常规协同导航算法相比,采用边角网条件平差处理后的导航状态估计误差最大可减小69.29%,有效实现了从USV惯导误差的协同校正。 展开更多
关键词 无人水面艇 协同导航 量测误差 条件平差
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授时误差对跨域USV/ARV定位导航系统精度的影响分析 认领 引用
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作者 张华霞 贺贺 +1 位作者 王惠刚 杨龙飞 《全球定位系统》 CSCD 2025年第5期107-116,共10页
授时误差是影响水下目标定位导航精度的关键因素,尤其在跨域无人水面艇/自主/遥控水下机器人(unmanned surface vehicle/autonomous and remotely operated underwater vehicle,USV/ARV)定位导航系统中直接决定整体作业性能.本研究针对U... 授时误差是影响水下目标定位导航精度的关键因素,尤其在跨域无人水面艇/自主/遥控水下机器人(unmanned surface vehicle/autonomous and remotely operated underwater vehicle,USV/ARV)定位导航系统中直接决定整体作业性能.本研究针对USV/ARV移动观测系统中移动水声定位与跟踪部分构建了系统化的授时误差数学模型,依次分析入水前一次性授时、间断授时和线缆实时授时三种典型场景下的授时误差传播机制,探讨其对水下目标跟踪精度的影响.蒙特卡洛仿真评估结果表明,授时误差与授时方式密切相关,并直接影响水下目标的导航精度;一次性授时中晶振频率漂移是主导因素;间断授时误差与授时间隔呈正相关,不同授时间隔下主要误差源各异;线缆实时授时中系统处理延迟为主要误差源.研究结论表明,提高授时精度并优化误差补偿策略对实现水下目标高精度定位跟踪至关重要.本研究为水下定位导航授时系统的优化设计提供了理论基础和工程实践指导. 展开更多
关键词 水下定位 导航授时 跨域USV/ARV定位导航系统 时钟漂移 系统延迟 硬件抖动
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基于多传感器融合的USV自主导航系统设计 认领 引用 被引量：1
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作者 邓明星 李爽 +2 位作者 黄龙飞 漆庆华 许小伟 《船电技术》 2025年第8期1-5,共5页
本研究聚焦于基于全球定位系统(GPS)和惯性测量单元(IMU)融合的小型无人艇自主导航系统。通过解算定位模块与IMU的原始数据,系统能够实时获取无人艇的位置信息和姿态数据,并借助自主导航算法生成相应的控制指令,实现无人艇的自主航行。... 本研究聚焦于基于全球定位系统(GPS)和惯性测量单元(IMU)融合的小型无人艇自主导航系统。通过解算定位模块与IMU的原始数据,系统能够实时获取无人艇的位置信息和姿态数据,并借助自主导航算法生成相应的控制指令,实现无人艇的自主航行。实验结果表明,该系统能够精准导航、快速响应,自主完成预定航线任务,展现出较强的鲁棒性和适应性。 展开更多
关键词 多传感器 无人艇 自主导航
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噪声未知条件下的USV自适应协同定位算法 认领 引用
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作者 范世伟 郝强 +3 位作者 刘江涛 张亚 王庆鑫 伊国兴 《舰船科学技术》 北大核心 2025年第18期49-53,共5页
针对无人水面艇协同定位系统由于距离量测噪声未知而引起协同定位精度下降的问题,首先分析无人水面艇协同定位系统运动学模型与基于水声测距的量测模型,然后设计基于变分贝叶斯卡尔曼滤波的自适应协同定位算法,利用迭代方式对从艇的位... 针对无人水面艇协同定位系统由于距离量测噪声未知而引起协同定位精度下降的问题,首先分析无人水面艇协同定位系统运动学模型与基于水声测距的量测模型,然后设计基于变分贝叶斯卡尔曼滤波的自适应协同定位算法,利用迭代方式对从艇的位置进行估计。为了验证本文所提算法的有效性,通过实船试验的离线数据对算法进行了对比验证,结果表明所提算法可以有效降低定位误差,均方根误差与UKF、HIDDF、AKF、FGMC算法相比分别减少了58%、14%、6%、15%,显著提高了无人水面艇的定位能力。 展开更多
关键词 卡尔曼滤波 协同定位 无人水面艇
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Fault tolerant attitude control of under-actuated spacecraft:Theory and experiment 认领 引用 被引量：4
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作者 Zejun ZHANG Hao YANG Bin JIANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2023年第5期465-474,共10页
This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiv... This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiveness or bias.A non-smooth robust adaptive fault tolerant control law is proposed under the zero-momentum and input saturation conditions.It shows that the available reaction wheels need to produce sufficient control torque for the fault tolerance.Such a new control method is implemented in a semi-physical simulation system of an air-bearing platform.Experimental results show the effectiveness of the proposed method in spacecraft practical engineering. 展开更多
关键词 Actuator fault Air-bearing platform Fault tolerant control Semi-physical experiment Under-actuated spacecraft
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基于TD3-RRT的特殊环境下USV路径规划算法研究 认领 引用 被引量：2
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作者 陈际同 周佳加 +1 位作者 吴迪 江海龙 《系统仿真学报》 EI CAS CSCD 北大核心 2025年第11期2888-2903,共16页
面对多障碍、大尺寸障碍、狭窄通道等特殊环境下的USV路径规划问题,快速扩展随机树算法(rapidly-exploring random trees,RRT)存在采样基数大、规划成功率低、规划路径曲折等缺点。基于双延迟深度确定性策略梯度(twin delayed deep dete... 面对多障碍、大尺寸障碍、狭窄通道等特殊环境下的USV路径规划问题,快速扩展随机树算法(rapidly-exploring random trees,RRT)存在采样基数大、规划成功率低、规划路径曲折等缺点。基于双延迟深度确定性策略梯度(twin delayed deep deterministic policy gradient,TD3)提出一种全局路径规划算法(TD3-RRT)。结合RRT算法与深度强化学习建立USV路径搜索模型,利用前视探测感知环境以自适应调整扩展步长,通过策略网络输出路径搜索方向,解决RRT算法扩展盲目的问题;改进后见经验回放策略,通过重选虚拟目标、双经验回放池采样等策略以增强复杂环境下路径搜索能力;通过奖励函数提高规划路径质量,加快路径搜索速度。实验结果表明:不同环境下TD3-RRT相比当前主流算法能够有效提高规划成功率,优化转向角度、路径长度和规划时间,证明了改进算法能有效加快路径搜索速度并提高路径质量,且对不同环境具有良好适应性。 展开更多
关键词 双延迟深度确定性策略梯度算法 路径规划 特殊环境 快速扩展随机树算法 USV 后见经验回放
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