基于感知信息的USV目标环绕跟踪方法

宋吉广; 李德隆; 冯亮; 刘阳; 林扬; 孙铁铭

doi:10.11993/j.issn.2096-3920.202206011

基于感知信息的USV目标环绕跟踪方法

doi: 10.11993/j.issn.2096-3920.202206011

宋吉广^{1, 2,},
李德隆^{1, 2,},
冯亮^{1, 2},
刘阳^{1, 2},
林扬^{1, 2},
孙铁铭^{1, 2}

1.
中国科学院沈阳自动化研究所机器人学国家重点实验室, 辽宁沈阳, 110016
2.
中国科学院机器人与智能制造创新研究院, 辽宁沈阳, 110169

详细信息

作者简介:
宋吉广(1992-) 男, 硕士, 助理研究员, 主要研究方向为无人航行器模型建立、航行控制、控制算法等

通讯作者:
李德隆(1981-), 男, 硕士, 正高级工程师, 硕士生导师, 主要研究方向为水上/水下无人航行器电控系统、总体技术

中图分类号: U674.91; TJ630.64
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- 文章访问数: 91
- HTML全文浏览量: 21
- PDF下载量: 27
- 被引次数: 0
出版历程
- 收稿日期: 2022-06-22
- 修回日期: 2022-09-30
- 网络出版日期: 2023-06-08

Target Surround Tracking Method of USVs Based on Perception Information

SONG Jiguang^{1, 2
,},
LI Delong^{1, 2
,},
FENG Liang^{1, 2},
LIU Yang^{1, 2},
LIN Yang^{1, 2},
SUN Tieming^{1, 2}

1.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

摘要

摘要: 无人水面艇(USV)作为一种智能水面工具, 可实现航行控制、水面目标识别与感知等基本功能, 但伴随着工程需求的多元化, 如水面失事货轮、未知船只特征识别、失事飞机等搜救探测任务, 该基本功能已无法完成任务, 因此需要开展一种可对目标进行稳定跟踪并完成360°环视的方法研究。文中提出一种基于感知目标信息, 通过对目标环绕跟踪,实现目标检测的方法。在对感知信息进行目标运动状态估计后, 采用虚拟目标点跟踪算法计算出期望航向及速度, 通过航向控制器及速度控制器实现对USV的位姿控制, 同时加入重规划跟踪策略, 以适应水面复杂环境并感知设备提供信息的误差扰动。以USV模型辨识方法获得模型并搭建仿真平台进行仿真验证, 通过实航试验测试证明该算法设计的合理性。
- 无人艇 /
- 感知信息 /
- 目标环绕跟踪 /
- 目标运动状态估计 /
- 虚拟目标点跟踪算法 /
- 重规划跟踪策略
Abstract: Unmanned surface vehicle(USV), as an intelligent surface tool, can realize basic functions such as navigation control, as well as surface target recognition and perception. However, with the diversification of engineering requirements, such as search and rescue missions oriented to wrecked freighter, unknown ship feature recognition, and wrecked aircraft, these basic functions fail to complete the task. Therefore, it is necessary to develop a method to track the target stably and complete 360-degree scanning. In this paper, based on the perceptual target information, a target surround tracking method was proposed for target detection. After estimating the target motion state from the sensing information, the virtual target point tracking algorithm was used to calculate the desired heading and velocity. The heading controller and speed controller were used to control the position and attitude of the USV. At the same time, a re-planning and tracking strategy was added to adapt to the complex environment of the water surface and the error disturbance of the information provided by the sensing equipment. The USV model identification method was used to obtain the model and build a simulation platform for simulation verification. The actual flight test proves the rationality of the algorithm design.
- unmanned surface vehicle /
- perceptual information /
- target surround tracking /
- target motion state estimation /
- virtual target point tracking algorithm /
- re-planning and tracking strategy

HTML全文

图 1 “勇士号”USV实航效果图

Figure 1. Actual navigation effect of the Warrior USV

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图 2 虚拟目标点跟踪算法原理

Figure 2. Principle of virtual target point tracking algorithm

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图 3 算法总体框架图

Figure 3. Overall framework of algorithm

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图 4 首虚拟目标点求取示意图

Figure 4. Solution of the first virtual target point

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图 5 动态虚拟目标点切换判据原理图

Figure 5. Principle of dynamic virtual target point swiching criterion

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图 6 目标环绕跟踪仿真

Figure 6. Target surround tracking simulation

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图 7 目标环绕跟踪姿态信息

Figure 7. Target surround tracking attitude information

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图 8 航向滤波处理结果

Figure 8. Course filtering processing result

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图 9 速度滤波处理结果

Figure 9. Velocity filtering processing result

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图 10 目标环绕跟踪实航轨迹

Figure 10. Actual flight of target surround tracking

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图 11 目标环绕跟踪姿态信息

Figure 11. Target surround tracking attitude information

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图 12 USV和目标间距离与环绕半径差值

Figure 12. Distance and radius difference between USV and target

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