Online Optimization and Tracking Control of AUVs for Piecewise Linear Paths
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摘要: 针对自主水下航行器(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3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(PSO)算法优化3阶Bezier曲线的控制点, 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:
- 自主水下航行器 /
- 路径优化 /
- 重叠滑动窗口 /
- 参数化3阶Bezier曲线 /
- 视线制导法
Abstract: In response to the excessive tracking error caused by tangential jumps at switching points during the piecewise linear path tracking of autonomous undersea vehicle(AUV), an online path optimization method was proposed 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 effect and decision myopia. The parameterized cubic Bezier curve(PCBC) algorithm is preferably selected to optimize the path in the window. When this algorithm is not applicable, an improved particle swarm optimization(PSO) is used to optimize the control points of cubic Bezier 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, an improved line-of-sight(LOS) guidance was designed based on an adaptive look-ahead distance. The look-ahead distance was dynamically adjusted by fusing tracking error, path curvature, and 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 基于重叠滑动窗口的路径优化流程
Figure 4. Flow chart of path optimization based on overlapping sliding windows
图 7 窗口长度30 m和55 m对应的路径优化结果对比
Figure 7. Comparison of path optimization results corresponding to window length of 30 m and 55 m
图 9 工况1下2种LOS制导策略路径跟踪效果对比
Figure 9. Comparison of path tracking effects of two LOS guidance strategies under working condition 1
图 10 工况1下2种LOS制导策略前视距离变化曲线
Figure 10. Comparison curves of look-ahead distance changes of two LOS guidance strategies under working condition 1
图 11 工况1下2种LOS制导策略跟踪横向误差曲线
Figure 11. Comparison curves of tracking lateral error of two LOS guidance strategies under working condition 1
图 12 工况2下2种LOS制导策略路径跟踪效果对比
Figure 12. Comparison of path tracking effects of two LOS guidance strategies under working condition 2
图 13 路径优化结果及2种LOS制导策略跟踪轨迹
Figure 13. Path optimization results and tracking trajectory of two LOS guidance strategies
表 1 AUV6自由度运动参数
Table 1. Motion parameters of an AUV in six degrees of freedom
坐标轴 姿态角 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 工况1下2种LOS制导策略路径跟踪性能指标
Table 2. Tracking performance indicators of two LOS guidance strategies under working condition 1
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 工况2下2种LOS制导策略路径跟踪性能指标
Table 3. Tracking performance indicators of two LOS guidance strategies under working condition 2
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 海试下2种LOS制导策略路径跟踪性能指标
Table 4. Tracking performance indicators of two LOS guidance strategies under sea trial
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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