| 引用本文: | 吴恭兴,万磊,邹劲,庄佳园,廖煜雷.混合仿人智能图式的无人艇自主驾控系统设计[J].控制理论与应用,2010,27(12):1647~1654.[点击复制] |
| WU Gong-xing,WAN Lei,ZOU Jin,ZHUANG Jia-yuan,LIAO Yu-lei.Design of the autonomous pilot system for the unmanned surface vehicle based on the hybrid human simulated intelligent schema[J].Control Theory and Technology,2010,27(12):1647~1654.[点击复制] |
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| 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 |
| 摘要点击 1495 全文点击 1103 投稿时间：2009-11-30 修订日期：2010-09-18 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.12.ITCTA091539 |
| 2010,27(12):1647-1654 |
| 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 |
| 基金项目 国防“973”计划资助项目(61311101); 国家自然科学基金资助项目(50579007); 水下智能机器人技术国防科技重点实验室开放基金资助项目(2008001). |
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| 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. |
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