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Alternative TitleBearing-only Target Pursuing Strategy for AUV Based on Short-term Planning
林昌龙1,2,3; 刘开周2,3; 李一平2,3; 张忆文1; 陈雁1
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20202208714494
Contribution Rank1
Funding Organization国家自然科学基金(61403150,61802135) ; 机器人学国家重点实验室开放基金(2012-O02)
Keyword自主水下机器人 纯方位 目标追踪 行为规划


Other Abstract

The problem of pursuing large marine mammals by autonomous underwater vehicles (AUVs) is studied. Be- cause the maneuverability of the target is much better than that of the tracker, the AUV may miss the opportunity of approach- ing the target if it plans the pursuing path after the convergence of the target motion estimation value. Inspired by the idea of game theory, a target pursuing algorithm based on short-term planning is proposed to solve this problem. In this method, all feasible behaviors of AUV in a short period are firstly constructed, then the situation that the AUV will reach under each behavior is evaluated, and finally the behavior that makes AUV in the most advantageous pursuing situation is chosen as the result of planning. In order to examine this method, two simulation experiments are carried out: the first experiment shows that the pursuing success rate of the proposed method is 5.2% higher than that of the traditional method, and the second experiment shows that the AUV can still effectively pursue the target even under large measurement errors. The simulation results show that this method not only improves the success rate of pursuing but also has good robustness.

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Document Type期刊论文
Corresponding Author林昌龙
Recommended Citation
GB/T 7714
林昌龙,刘开周,李一平,等. 基于短期规划的AUV纯方位目标追踪策略[J]. 机器人,2020,42(3):309-315.
APA 林昌龙,刘开周,李一平,张忆文,&陈雁.(2020).基于短期规划的AUV纯方位目标追踪策略.机器人,42(3),309-315.
MLA 林昌龙,et al."基于短期规划的AUV纯方位目标追踪策略".机器人 42.3(2020):309-315.
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