弱通信和弱观测条件下欠驱动AUV群体编队地图创建的研究

项目名称： 弱通信和弱观测条件下欠驱动AUV群体编队地图创建的研究

项目编号： No.51209050

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： 黄海

作者单位： 哈尔滨工程大学

项目金额： 25万元

中文摘要： 智能水下机器人(AUV)群体编队地图创建是利用AUV完成海洋环境立体监测的重要保障。本项目充分考虑弱通信和弱观测的海洋条件，针对欠驱动AUV群体编队地图创建，系统深入地开展多AUV水声通信、互定位、编队和地图创建的理论研究。具体的，基于Laplacian势能关联函数，研究动态拓扑网络的一致性问题，建立可靠水声通信网络；基于欠驱动AUV非线性动力学模型，对海流扰动进行自适应位姿补偿，发展AUV之间的相对位置量测与互定位机理；通过AUV群智能体基于模糊分类的强化学习进行在线队形决策，并使用自适应控制实现队形保持，提高多AUV编队的自主能力和对弱观测环境的适应性；基于水下导航，结合自适应卡尔曼与粒子滤波创建更新局部地图，基于粒子树完成地图合并，解决弱观测条件下地图创建问题。进行分项实验和集成仿真实验。通过本项目的研究，为解决弱通信和弱观测条件下欠驱动AUV群体编队地图创建奠定理论和技术基础。

中文关键词： 欠驱动智能水下机器人；弱通信；群体编队；地图创建；

英文摘要： Multiple autonomous underwater vehicles(multi-AUV) formation mapping plays a very important role in tridimensional monitoring ocean enviroment by employing AUVs. This program will be engaged in under-actuated multi-AUV formation mapping. In full consideration of weak communication and observation conditions, this program will systematically and intensively carry out theoretic research on multi-AUV underwater acoustic communication, mutual localization, formation and map construction. Based on Laplacian potential associated fuction, investigation will be made on consensus problems of network with switching topography, in order to establish reliable underwater acoustic communication network. In accordance with nonlinear under-actuated AUV dynamic model, adaptive controller will be developed to compensate for sea currents influence, and therefore to progress relative position measurements and mutual localization technique between AUVs. A hierarchical control architecture will be introduced to upgrade multi-AUV formation ability of intelligence and enviromental adaptivity. The top controller will deal with online formation control through multi-AUV reinforcement learning on the basis of fuzzified classifier, while the bottom cotroller will implement formation maintenance through adaptive controller. For the mapping

英文关键词： Under-actuated AUV；limited communication；group formation；mapping；