• 中国科技核心期刊
  • JST收录期刊
ZHANG Shang, YANG Rui, CHEN Zhen, LI Ming. Motion Control Method of Autonomous Surface Vehicle Based on the PILCO Algorithm[J]. Journal of Unmanned Undersea Systems, 2021, 29(5): 541-549. doi: 10.11993/j.issn.2096-3920.2021.05.005
Citation: ZHANG Shang, YANG Rui, CHEN Zhen, LI Ming. Motion Control Method of Autonomous Surface Vehicle Based on the PILCO Algorithm[J]. Journal of Unmanned Undersea Systems, 2021, 29(5): 541-549. doi: 10.11993/j.issn.2096-3920.2021.05.005

Motion Control Method of Autonomous Surface Vehicle Based on the PILCO Algorithm

doi: 10.11993/j.issn.2096-3920.2021.05.005
  • Received Date: 2020-10-20
  • Rev Recd Date: 2020-12-17
  • Publish Date: 2021-10-31
  • A highly autonomous, flexible, and reconfigurable autonomous surface vehicle(ASV) must be developed to fulfill the needs for ocean exploration. In this study, an ASV composed of four thrusters is analyzed by establishing the dynamic model of the ASV, designing its controller based on the probabilistic inference learning to control(PILCO) algorithm, and conducting simulation experiments of fixed-point control and trajectory tracking. The simulation results show that the ASV model can autonomously learn the control strategy in a small number of experiments and realize motion control during a water flow disturbance or when using an approximate dynamic model, thereby verifying the effectiveness of the proposed algorithm

     

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