混合仿人智能图式的无人艇自主驾控系统设计

Design of the autonomous pilot system for the unmanned surface vehicle based on the hybrid human simulated intelligent schema

中文关键词  自主驾控  仿人智能图式  混合式分层递阶结构  无人艇  协商式避碰  反应式避碰

英文关键词  autonomous pilot  human-simulated intelligent schema  hybrid hierarchical structure  USV  deliberative obstacle avoidance  reactive obstacle avoidance

中文摘要

      针对高度动态、不可预测的海洋环境, 开展了无人艇智能运动控制系统的设计研究.首先本文利用认知学科的“图式”概念来分析人体运动控制系统的结构, 提出一种混合式分层递阶结构, 把人类的先验知识、专家经验融入到该结构中, 并在实践中不断学习和完善, 则形成了一种混合仿人智能图式; 然后根据该图式的思想, 设计了自主驾控系统的体系结构, 并编制成简单实用、逻辑性强、能实时运行的控制流程; 最后进行了无人艇的航线跟踪和安全自主航行的半实物仿真试验, 仿真结果表明该无人艇可以安全的避开其他船舶并尽量跟踪航线.

英文摘要

      We study the intelligent motion control system for the unmanned surface vehicle(USV) in high-dynamic uncertain ocean environment. Firstly, the structure of human motion control system is analyzed by using the ’schema’ concept in the cognize domain; the concept of hybrid hierarchical structure is proposed. If the structure has human a priori knowledge and expert experience which are developed in practice, then it will evolve into a hybrid human-simulated intelligent schema. According to this human-simulated intelligent structure, the autonomous pilot system for USV is designed. The control flow is programmed, which is practically applicable, logically structured and real-time operative. Finally, the semi physical simulation tests for the USV course tracking and the safe autonomous-pilot are carried out. Simulation results show that the USV safely keeps away from other ships and tracks the course.