Online optimization and path-following control of AUVs for piecewise linear paths
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摘要: 针对自主式水下航行器(AUV)在分段线性路径跟踪中, 因切换点切向跳变而产生过大跟踪误差的问题, 文中提出一种基于重叠滑动窗口的在线路径优化方法。该方法通过重叠窗口,使新窗口继承前次窗口优化结果的后段部分, 从而缓解末端效应与决策短视问题。窗口内路径的优化优先选用参数化三阶Bezier曲线(PCBC)算法, 当该算法不适用时, 则采用改进型粒子群优化算法(PSO)优化PCBC的控制点以获得满足性能要求的优化路径段。为实现AUV对优化路径段的高精度跟踪, 文中设计了一种基于自适应前视距离的改进型视线制导法(LOS), 通过融合跟踪误差、路径曲率以及航速动态调整前视距离以提升制导精度。通过仿真分析与海上试验验证了改进型LOS的优越性以及路径优化方法与其相结合后的工程实用性。
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关键词:
- 自主式水下航行器 /
- 路径优化 /
- 重叠滑动窗口 /
- 三阶Bezier曲线 /
- 改进型视线制导法
Abstract: Aiming at the problem of excessive tracking error caused by tangential jumps at switching points during the piecewise linear path tracking of autonomous underwater vehicle(AUV), this paper proposes an online path optimization method based on overlapping sliding windows. This method overlaps the windows to enable the new window to inherit the latter part of the optimization results from the previous window, thereby mitigating the end effects and decision myopia. The optimization of the path in the window gives priority to the parameterized cubic Bézier curve(PCBC) algorithm. When this algorithm is not applicable, an improved particle swarm optimization(PSO) is used to optimize the control points of the cubic Bézier curve, so as to obtain optimized path segments that meet the performance requirements. To achieve high-precision tracking of the optimized path segments by the AUV, this paper designs an improved line-of-sight(LOS) guidance method based on adaptive look-ahead distance, which dynamically adjusts the look-ahead distance by fusing tracking error, path curvature and navigation speed to improve guidance accuracy. Simulation analysis and sea trials verify the superiority of the improved LOS and the engineering practicability of its integration with the path optimization method. -
图 4 窗口内包含三阶Bezier曲线与不存在几何不连续点的直线路径
Figure 4. The window contains a cubic Bézier curve segment and linear paths without geometric discontinuities
图 5 窗口内包含三阶Bezier曲线与存在几何不连续点的直线路径
Figure 5. The window contains a cubic Bézier curve segment and linear paths with geometric discontinuities
图 6 基于重叠滑动窗口的路径优化流程图
Figure 6. Flow chart of path optimization based on overlapping sliding windows
图 9 窗口长度分别为30m和55m时对应的优化结果
Figure 9. The corresponding optimization results when the window length is 30m and 55m respectively
图 11 两种LOS制导策略的路径跟踪效果对比图
Figure 11. Comparison of path tracking effects of two LOS guidance strategies
图 12 两种LOS制导策略的前视距离变化对比图
Figure 12. Comparison diagram of forward-looking distance changes of two LOS guidance strategies
图 13 两种LOS制导策略的跟踪横向误差对比图
Figure 13. Comparison diagram of tracking lateral error of two LOS guidance strategies
图 14 两种LOS制导策略的路径跟踪效果对比图
Figure 14. Comparison of path tracking effects of two LOS guidance strategies
图 15 路径优化结果及两种LOS制导策略的跟踪轨迹
Figure 15. Path optimization results and tracking trajectory of two LOS guidance strategies
表 1 AUV六自由度运动参数
Table 1. Motion parameters of an AUV in six degrees of freedom
坐标轴 姿态 线速度 角速度 力 力矩 $ x $ $ \phi $ $ u $ $ p $ $ X $ $ K $ $ y $ $ \theta $ $ v $ $ q $ $ Y $ $ M $ $ {\textit{z}} $ $ \psi $ $ w $ $ r $ $ Z $ $ N $ 
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表 2 两种LOS制导策略的路径跟踪性能指标
Table 2. Path-following performance metrics of two LOS guidance strategies
制导策略 跟踪平均绝对误差/m 跟踪均方根误差/m 传统型LOS 1.4934 1.9533 改进型LOS 1.1201 1.4397
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表 3 两种LOS制导策略的路径跟踪性能指标
Table 3. Path tracking performance index of two LOS guidance strategies
制导策略 跟踪平均绝对误差/m 跟踪均方根误差/m 传统型LOS 2.0103 2.4909 改进型LOS 1.4953 1.8817
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表 4 两种LOS制导策略的路径跟踪性能指标
Table 4. Path tracking performance index of two LOS guidance strategies
制导策略 跟踪平均绝对误差/m 跟踪均方根误差/m 传统型LOS 1.5531 2.5731 改进型LOS 0.8165 1.0733
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