欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
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.
同期刊论文项目
同项目期刊论文
期刊信息
位置：