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Marine observation method based on multiple AUVs
Authors
张岳星
曾俊宝
李一平
李硕
Publication date
19 March 2021
Publisher
Abstract
本专利涉及一种基于多AUV的海洋观测方法,对局部区域的海洋特征进行自适应观测。其中包括,被观测海洋特征的环境模型用多个基函数线性表示;执行任务前,利用先验知识初始化模型参数;执行任务时,每台AUV包括一个局部滤波器、全局滤波器和规划器,局部滤波器根据在线采集的数据递归估计海洋特征环境模型的参数以实现环境状态的局部估计;全局滤波器负责将AUV局部滤波器得到的局部信息和其它AUV发送过来的信息进行融合实现环境状态的全局估计;每台AUV的规划器依据融合后的全局信息,构建本地目标函数进行自适应路径规划。本方法能够充分发挥多AUV的优势,提高海洋观测的可观性,减少AUV间的通信量,有效克服AUV间信息重复使用导致的过自信问题
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 09/06/2022