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基于MILP的AUV实时优化行为方法研究
Alternative TitleResearch on real-time optimization behavior of AUV based on MILP
程大军; 刘开周
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2012
Issue4Pages:91-93
Contribution Rank1
Funding Organization国家973项目专题(6138101007-3,6138102008-4); 国家自然科学基金项目(60805050); 中国科学院知识创新工程(YYYJ-0917); 国家高科技研究发展计划(2003AA401003,2009AA093302)
Keyword自主水下机器人 混合整数线性规划 自主行为 路径规划
Abstract针对自主水下机器人(Autonomous Underwater Vehicles,AUV)复杂动态环境下的实时局部路径规划的问题,采用了在全局坐标系下基于混合整数线性规划(Mixed Integer Linear Programming,MILP)的最优轨迹产生方法。在全局坐标系下,把复杂动态环境下AUV路径规划这一非线性问题,描述成满足一组线性约束同时使目标函数极小的线性规划问题,嵌入基于MILP的规划器,从而得到一条满足性能要求的最优路径。该方法充分考虑了障碍物、目标、本体动力学以及传感器的约束,并结合实际AUV动力学模型进行优化,半物理仿真实验结果验证了该方法的合理有效性。
Other AbstractA Mixed Integer Linear Planning(MILP)based optimal trajectory generation method in the globe coordinate system is presented for real-time path planning of Autonomous Underwater Vehicle(AUV) in the dynamic complex environment.In the globe coordinate system,the path planning of AUV in dynamic environment is described as minimizing an objective function subjecting to a set of linear inequalities which can be easily embedded into MILP path planner.Thus an optimal path fulfilling the performance requirement is obtained.Meanwhile constrains of obstacles,target,AUV dynamics,and sensor ranger are fully considered,combining with actual dynamic model,a semi-physical simulation test is done,which results verify the validity of this approach. 
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9975
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
程大军,刘开周. 基于MILP的AUV实时优化行为方法研究[J]. 机械设计与制造,2012(4):91-93.
APA 程大军,&刘开周.(2012).基于MILP的AUV实时优化行为方法研究.机械设计与制造(4),91-93.
MLA 程大军,et al."基于MILP的AUV实时优化行为方法研究".机械设计与制造 .4(2012):91-93.
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