[1]史艳霞,贾贵玺,董宏超.人工势场法在航道测量中的应用[J].华侨大学学报(自然科学版),2015,36(5):581-586.[doi:10.11830/ISSN.1000-5013.2015.05.0581]
　SHI Yan-xia,JIA Gui-xi,DONG Hong-chao.Application of the Artificial Potential Fields in the Hydrographic Measurement[J].Journal of Huaqiao University(Natural Science),2015,36(5):581-586.[doi:10.11830/ISSN.1000-5013.2015.05.0581]
点击复制

人工势场法在航道测量中的应用()
分享到：

《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第36卷
期数:
2015年第5期
页码:
581-586
栏目:
出版日期:
2015-09-20

文章信息/Info

Title:
Application of the Artificial Potential Fields in the Hydrographic Measurement
文章编号:
1000-5013(2015)05-0581-06
作者:
史艳霞1;  贾贵玺2;  董宏超2
1. 天津中德职业技术学院 电气与能源学院, 天津 300350;2. 天津大学 智能电网实验室, 天津 300072
Author(s):
SHI Yan-xia1;  JIA Gui-xi2;  DONG Hong-chao2
1. College of Electrical and Energy, Tianjin Sino-German Vocational Technical College, Tianjin 300350, China; 2. Key Laboratory of Smart Grid of Ministry of Education, Tianjin University, Tianjin 300072, China
关键词:
导航算法;  人工势场法;  比例-积分-微分控制;  全球定位系统;  测量船
Keywords:
navigational algorithm;  artificial potential fields;  proportional-integral-differential controller;  global positioning system;  survey ship
分类号:
U612.23
DOI:
10.11830/ISSN.1000-5013.2015.05.0581
文献标志码:
A
摘要:
为实现航道精准测量、自主避障、寻找最优路径等,提出一种将人工势场法与比例-积分-微分(PID)控制相结合的导航算法.通过全球定位系统(GPS)得到试验系统设计测量船的位置信息,利用导航算法得到的舵机角度偏差产生脉冲宽度调制(PWM)信号,经由功率放大等装置驱动伺服电机,带动测量船舵机向预定的方向偏转.通过C语言及串口通信技术实现上下位机通信,实时获得测量船参数信息及航迹图像.试验结果表明:设计的导航算法满足高精度、完全自主的要求,可广泛应用于内陆航道及水库测量工程中.
Abstract:
In order to realize accurate survey of channel, automatically avoiding obstacle, finding the optimal route et al, a navigational algorithm that combines artificial potential fields(APF)with proportional-integral-differential(PID)controller was put forward. Through the global positioning system(GPS)to get the location of the survey ship, using the error of electric steering gear angle controlling the pulse-width-modulation(PWM)signal, and driving servo motor by power amplifying device, the electric steering gear can be turned rightly. The C language and strings mouth communication technology are used to realize the communication between the upper and lower computer, and the parameter information and track images of ship are obtained in real-time. The experiment results show that the new navigational algorithm can meet the requirements of high accuracy and complete independency, and can be widely used in fairway surveying engineering.

参考文献/References:

[1] WEI Jiang,FANG Rui-xian,KHAN J.Performance prediction and dynamic simulation of electric ship hybrid power system[C]//Proceedings of the IEEE Electric Ship Technologies Sympoisium. [s.l.]:IEEE Press,2007:490-497.
[2] 李爱萍,李元宗.机器人路径规划方法的研究[J].机械工程与自动化,2009(156):194-197.
[3] 朱大奇, 颜明重.移动机器人路径规划技术综述[J].控制与决策,2010,25(7):961-967.
[4] PARK M G,JEON J H,LEE M C.Obstacle avoidance for mobile robots using artificial potential field approach with simulated annealing[J].Symposium on Industrial Electronics,2001,3(6):1530-1535.
[5] KHATID O.Real-time obstacle avoidance for manipulators and mobile robots[J].International Journal of Robotics Research,1986,5(1):90-98.
[6] 刘春阳,程亿强,柳长安.基于改进势场法的移动机器人避障路径规划[J].东南大学学报:自然科学版,2009,39(增刊1):116-120.
[7] 张建英,刘暾.基于人工势场法的移动机器人最优路径规划[J].航空学报,2007(增刊1):183-188.
[8] 胡小平,谢珂,左富勇.基于改进人工势场法的机械手避障规划[J].测控技术,2012,31(10):109-116.
[9] 于红斌.足球机器人系统的决策推理研究[D].西安:西北工业大学,2005:87-91.
[10] 陶永华.新型PID 控制及其应用[M].北京:机械工业出版社,1998:57-62.
[11] 王永初.智能控制理论与系统的发展评述[J].华侨大学学报:自然科学版,2004,25(1):1-4.
[12] 詹月林.船舶航迹间接多模态控制方法研究[J].工业仪表与自动化装置,2003(6):31-34.
[13] OOSHIMA M,TAKEUCHI C.Magnetic suspension performance of a bearingless brushless DC motor for small liquid pumps[J].Transactions on Industry Applications,2011,47(1):72-78.
[14] 董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙:国防科技大学出版社,1998:25-40.
[15] 刘光.地理信息系统二次开发教程:组件篇[M].北京:清华大学出版社,2002:18-35.

相似文献/References:

[1]贾丙佳,李平.邻近障碍物整体化的机器人路径规划[J].华侨大学学报(自然科学版),2019,40(6):799.[doi:10.11830/ISSN.1000-5013.201903010]
　JIA Bingjia,LI Ping.Robot Path Planning With Integration of Neighbouring Obstacles[J].Journal of Huaqiao University(Natural Science),2019,40(5):799.[doi:10.11830/ISSN.1000-5013.201903010]

备注/Memo

备注/Memo:
收稿日期: 2015-08-15
通信作者: 史艳霞(1965-),女,副教授,主要从事电气自动化技术、电力电子技术的研究.E-mail:ydd_2006@126.com.
基金项目: 国家海洋专项基金资助项目(GHME2010ZC09)
更新日期/Last Update: 2015-09-20