Research On Method Of Adaptive Behavior Control For UUV Mission

Along with the deep research in the theory of artificial intelligence technology and the development of control theory,the robot is moving toward unmanned and intelligent direction.In the field of marine,unmanned underwater vehicle is the outstanding represent of underwater robots,and they play an important role in ocean exploration,investigation etc.In some sensitive and disputed areas,the UUV can perform long-time and hidden tasks in the advantage of smaller volume and lower noise characteristics.UUV have become a research focus and hot topic in the field of marine equipments and technology.The paper set intelligence,surveillance and reconnaissance,mine countermeasures and anti-submarine warfare as the background,mainly make the research in four aspects: the UUV level fundamental behavior model,model of UUV control system software,UUV behavior coordination mechanism,the establishment of UUV adaptive behavior control simulation software.Firstly,The paper adopt behavior dynamics to analysis the modeling process of the UUV's fundamental behavior,establish the model of waypoint behavior,avoidance behavior and avoid collision behavior,and then we give the rule of Behavior dynamics model parameter adjustment and achieve the superposition of the behavior contribution.Through the research and analysis of the three major mission,the paper design to meet the mission requirements of UUV's fundamental and task behavior.Secondly,if use structured language to design the system of UUV control,which is difficult to judge whether the code implements the model of system analysis On the problem of software design of UUV control system.So Unified Modeling Language is adopted to design arehiteeture of control system with Visual Programming Method.Through the study of UUV's movement control system based on behavior,the UUV's visual control system model is established from the demand function,response sequence and object flow Angle.Thirdly,In order to avoid the UUV in kino phenomenon appeared in the process of sailing,this paper design based on fuzzy weighting fusion algorithm and detail description of the principle and steps of fuzzy weighting algorith.To make multiple actions to fulfill the task coordinated operation to assist the UUV,this paper design the UUV behavior coordination algorithm based on priority.The simulation results verify the accuracy of thebehavior of the dynamics model is established by and the effectiveness of the fuzzy weight fusion algorithm to realize the behavior.Finally,To the research of basic behavior of UUV dynamics model,model of UUV control system software design,UUV behavior coordination algorithm,the combination of adaptive behavior constitutes the UUV control system,with VC 6.0 development platform,designed and developed UUV adaptive behavior control simulation software,this paper is verified by the simulation research of UUV adaptive behavior control method is effective.UUV adaptive behavior control system is constructed with dynamics model of fundamental behavior of UUV,software design of control system model of UUV,and behavior coordination algorithm of UUV.The paper design and develop the simulation software of UUV adaptive behavior control system by Development platform of VC 6.0.And we verify control method of UUV adaptive behavior is effective by the simulation research.