Research On Autonomous Behavior Optimize Control For UUV Inshore Work

Underwater underwater Vehicle (UUV ) is a hot direction of robotics research filed, and the autonomous control system of UUV is the most important aspect of designing the UUV.The autonomous control system of UUV can be defined as a plural system,the function mainly is to provide the UUV making decision under the premise of safe navigation, and complete the assigned tasks. The capacity of UUV making decision can also be expressed by the capacity of autonomy, therefore, the capacity of autonomy is the most important and basic symbol. Using the idea based on behavior designed the autonomous control system of UUV which is a significant method to improve the capacity of UUV autonomy. This paper presents UUV's primitive behavior, behavior coordinate method and task coordinate optimization strategy, following three research areas:Firstly,adopt behavior dynamics to analysis the modeling process of the UUV's primitive behavior, establish the model of waypoint behavior, avoidance behavior and avoidcollision behavior, and then achieve the superposition of behavior contributions based on the behavior dynamics field theory.Secondly, the paper introduces detailed the particle swarm optimization (PSO) algorithm including basic concept, principle and steps . The paper presents a method of UUV's primitive behavior fusion based on PSO, and achieves the goal of UUV's behavior unit coordinate.Through the simulation tests, it shows the influence of parameters of behavior dynamics and PSO, the results indicates that behavior dynamics and the PSO theory are correct and effective in a variety of emergencies or unstructured environment.Thirdly, aimed at the task level in the autonomous control system of UUV, build up a priority table of sub-tasks and events inshore work. Through established the task coordinate model with Petri-net, the paper has achieved the goal of task optimization strategy.Finally, combined with the UUV's primitive behavior model based on behavior dynamics, behavior coordinate method based on PSO and task coordinate optimization strategy based on Petri-net above, this paper designs an autonomous behavior optimize control method for UUV, and has developed the simulation software by Qt platform. The simulation test shows that the method proposed is effective, mainly aimed at the tasks of inshore work.