[1]朱骋,庄佳园,张磊,等.基于改进视线法的欠驱动无人艇路径跟踪[J].哈尔滨工程大学学报,2020,41(6):784-791.[doi:10.11990/jheu.201905119]
 ZHU Cheng,ZHUANG Jiayuan,ZHANG Lei,et al.Path following of underactuated unmanned surface vehicles based on the improved line-of-sight guidance strategy[J].hebgcdxxb,2020,41(6):784-791.[doi:10.11990/jheu.201905119]
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基于改进视线法的欠驱动无人艇路径跟踪(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
41
期数:
2020年6期
页码:
784-791
栏目:
出版日期:
2020-06-05

文章信息/Info

Title:
Path following of underactuated unmanned surface vehicles based on the improved line-of-sight guidance strategy
作者:
朱骋 庄佳园 张磊 苏玉民 袁志豪
哈尔滨工程大学 水下智能机器人技术国防科技重点实验室, 黑龙江 哈尔滨 150001
Author(s):
ZHU Cheng ZHUANG Jiayuan ZHANG Lei SU Yumin YUAN Zhihao
National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
关键词:
水面无人艇路径跟踪tanh函数视线法自适应变速航行高速航行平滑曲线
分类号:
TP273
DOI:
10.11990/jheu.201905119
文献标志码:
A
摘要:
针对水面无人艇执行高机动性任务时速度随时可能改变,从而影响控制精度,如目标包围、目标检测。本文提出基于自适应双曲正切视线法控制系统,通过自适应参数减小水面无人艇纵向速度改变对视线法的影响,采用tanh函数修正期望艏向曲线平缓度。仿真结果表明:虽然基于自适应双曲正切视线法和视线法均能在恒定速度和曲率变化范围内很好的收敛,但是在速度和曲率的范围会发生变化的情况下,基于自适应双曲正切视线法依旧能够保持良好的控制精度,视线法精度受损较大,其中速度震荡时间,横侧偏差超调明显变大。通过外场试验证明了基于自适应双曲正切视线法在随机环境干扰下,基于自适应双曲正切视线法具有较好的鲁棒性,且其能够在高速航行的情况下仍然具备较好跟踪精度。

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备注/Memo

备注/Memo:
收稿日期:2019-05-31。
基金项目:国家科研基金项目(KY70100180009).
作者简介:朱骋,男,硕士研究生;苏玉民,男,教授,博士生导师;庄佳园,男,副教授.
通讯作者:庄佳园,E-mail:zhuangjiayuan@hrbeu.edu.cn.
更新日期/Last Update: 2020-07-22