活跃的水下电位定位方法与基于PSO的自适应值估计
Lv Luting1,2, Ma Teng1, Quan Jingyi1
1National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, People's Republic of China.
Bioinspiration & biomimetics
|April 22, 2025
概括
这项研究引入了一种新的生物灵感的电位定位方法,用于水下车辆,灵感来自弱电鱼. 该方法在具有挑战性的水下环境中提供了强大而准确的目标定位.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物启发工程 生物启发工程
- 海洋技术 海洋技术
背景情况:
- 水下车辆需要有效的目标检测和定位来进行导航和操作.
- 传统的声学和光学传感器由于反响和信号减弱而在乱,黑暗和封闭的水下环境中受到限制.
- 弱电鱼利用电位定位来导航,避免捕食者,并在复杂的水生环境中狩猎.
研究的目的:
- 提出一个生物灵感的活跃水下电位定位方法,以实现强大而准确的目标定位.
- 解决现有传感技术在具有挑战性的水下环境中的局限性.
- 适应弱电鱼的原则,以提高水下车辆感知.
主要方法:
- 开发一种基于轮环的适应性目标定位方法.
- 高效生成高可靠性和高精度的前置轮图.
- 应用基于粒子群优化 (PSO) 的自适应值估计算法来解决非独特性问题.
- 电极阵列模式的设计,优化定位精度和电极数量.
主要成果:
- 拟议的方法为水下车辆提供了强大而准确的目标定位.
- 基于PSO的自适应值估计有效克服了轮环方法中的非唯一性问题.
- 坦克实验验证了开发的电定位系统的高定位精度.
结论:
- 生物启发的活跃水下电位定位方法在具有挑战性的水生环境中为目标定位提供了有前途的解决方案.
- 适应式轮环方法与PSO优化相结合,提高了本地化性能.
- 开发的系统显示了提高水下车辆感知能力的巨大潜力.
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