多自主水下航行器协同作业关键技术研究

项目名称： 多自主水下航行器协同作业关键技术研究

项目编号： No.51209051

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 水利科学与海洋工程学科

项目作者： 姜大鹏

作者单位： 哈尔滨工程大学

项目金额： 25万元

中文摘要： 为了建立满足工程化应用需求的多自主水下航行器系统（MAUVS），本课题拟针对其在海洋环境数据采集、区域探测等作业中应用面临的基础技术问题，开展如下两方面关键技术的研究：首先，开展基于行为的MAUVS协同作业方法研究。针对常规行为定义方法难以对AUV协作过程中的复杂决策过程进行描述的问题，开展基于"效用函数"的行为定义方法研究，解决"基于行为的智能控制理论"下AUV协调控制策略的实现问题；在此基础上，开展基于多目标值优化的行为融合策略研究，解决MAUV协同作业过程中行为决策的优化问题。其次，针对水声通讯的特点，从多智能体一致性理论和非线性系统理论出发，开展通讯缺失和时滞条件下的MAUV协调编队分布式控制方法研究，并实现编队控制方法的行为化定义。在上述研究的基础上，建立以水声通讯设备为核心的MAUV半实物仿真系统，通过试验验证方法的可行性。

中文关键词： 多水下机器人；智能决策；协调控制；编队控制；

英文摘要： In order to eastablish a multiple autonomous underwater vehicle system(MAUVS) that is suitbe for engineering applications, this project aims to research on fundamental technical problems that multiple autonomous underwater vehicle system will face when carrying out tasks such as distributed oceanic data collection and coordinated exploration of specific area.Specifically, the following two key technical problems will be studied. Firstly, coordinated control strategy of MAUVS based on behavior-based intelligent control mechamism will be studied in detail.As conventional behvavior definition methods can not depict the complexity of decision making process when AUV coordinated with each other to execute specific tasks, a "utility function" based behavior definition method will be proposed and coordianted task execution strategy will be realized based on "behavior-based intelligent control theory". Further more,Multi-Objective Optimization based behavior coordination strategy will be proposed in order to improve the efficiency and optimality of behavior-based control strategy. Secondly,the problem of coordinated formation control of MAUVS will be studied. The inherent problem with underwater acoustic communication such as low bandwidth, high latency and high noise makes it impossible to apply existing coordinated co

英文关键词： multiple autonomous underwater vehicles；intelligent decision making；coordinated control；formation control；