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实时轨迹规划和跟踪控制在动态环境中的生物潜水机器人
Feng Ding1,2, Rui Wang1,2, Tiandong Zhang1
1State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
Cyborg and bionic systems (Washington, D.C.)
|May 10, 2024
概括
这项研究提出了一种用于生物式水下机器人导航的新方法,增强了轨迹规划和控制,以动态避免障碍物. 这种方法确保了高效和光滑的路径与精确的跟踪,提高了水下机器人的性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 海洋工程 海洋工程
背景情况:
- 水下机器人需要复杂环境的先进导航.
- 仿生设计在水下运动中提供了独特的优势.
- 动态障碍对自主系统构成重大挑战.
研究的目的:
- 开发和验证一个实时轨迹规划和跟踪控制系统,用于生物式水下机器人.
- 为了应对自主导航多个动态障碍的挑战.
- 为了提高水下机器人路径规划的效率,流性和准确性.
主要方法:
- 仿生柜设计水下机器人.
- 使用时间空间贝齐尔曲线进行轨迹规划,用于全球路径生成.
- 动态避难障碍使用改进的近接政策优化进行地方重新规划.
- 模糊的比例积分导数 (PID) 控制器用于轨迹跟踪控制.
主要成果:
- 实时轨道规划方法在轨道长度,流性和规划时间方面表现出卓越的性能.
- 轨迹跟踪控制方法保持了大约0.2米的误差.
- 在动态环境中的模拟和UWSim验证了系统的有效性.
结论:
- 拟议的实时轨迹规划和跟踪控制方法对于在动态障碍物下操作的生物式水下机器人是有效的.
- 该系统在导航效率和准确性方面提供了显著的改进.
- 这项研究有助于提高自主水下车辆的能力.
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