自主式水下無人載具海床追蹤控制之研究

A Seafloor-Following Control for an Autonomous Underwater Vehicle

周恩毅(En-Yi Zhou)

指導教授 ： 郭振華

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2018年)

https://doi.org/10.6342/NTU201801693

摘要

本研究的目的使用無人載具觀測海床地形，依據載具所在的位置及測距聲纳量測資料，設計導航器及路徑追蹤控制器以及規劃參考路徑的演算法。導航器的設計依據其定義的追蹤誤差量，整合控制器後，使其誤差收斂為零。載具的運動控制器設計運用比例微分型。依據載具測距聲納量測之海床地形，本文提出即時規劃載具追隨參考路徑的演算法，可使參考路徑得以平順地貼近海床地形。載具的導航控制系統為非線性動態系統，為了保證系統穩定，本文提出載具探測自身與環境外型間距離，所需之前視距離，並根據載具控制性能響應，以及根據測距聲納的配置位置，建立跟隨水底的參考路徑的穩定導航控制方法。最後，本文驗證所提出之路徑規劃、路徑追蹤與運動控制之全系統架構，並實際應用於無人水下載具海床追蹤之作業。

關鍵字

路徑規劃 ； 導航控制 ； 前視距離 ； 海床追蹤

並列摘要

The designing a guidance and path-following controller problem solved for AUVs that takes into account the reference path ahead of the vehicle in this study. The design of the guidance system based on the definition of the tracking error that the tracking controller is to drive to zero. The seafloor position is detected by the controlled vehicle as a reference path and track the reference path automatically. The guidance nonlinear dynamics analysis combined with directional control law is proposed. There is a critical waypoint distance between the stability of the vehicle movement. In addition, an algorithm for constructing a reference path is proposed based on an echo sounder mounted ahead of the vehicle. Finally, the control system is tested by extensive trials using AUVs. The experimental results demonstrate a high-performance bottom-following robotic system for underwater bottom-following.

並列關鍵字

path-following ； guidance ； critical waypoint distance ； bottom-following

參考文獻

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