CN108664039A - Autonomous type underwater robot field source searching method and system based on gradient estimation - Google Patents
Autonomous type underwater robot field source searching method and system based on gradient estimation Download PDFInfo
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Abstract
The present invention proposes a kind of autonomous type underwater robot (AUV) the field source searching method estimated based on gradient and system, belongs to control engineering and optimization field.This method builds AUV field source chess game optimization models and determines AUV models according to field source search mission first, and installs several identical sensors；AUV field sources since initial position are searched for, if current position signal field intensity is more than predetermined field strength threshold value, carry out the estimation of current time field source gradient, and judge whether AUV reaches location of source according to gradient estimated result；If AUV does not reach location of source, motion control is carried out to AUV using gradient estimation, AUV, to new current location, is so recycled according to the control input motion at current time, until reaching location of source.Present invention firstly provides estimating to carry out field source search using gradient, it can ensure in the case of the gradient inaccuracy in optimization problem AUV still with predetermined posture and height close to location of source.
Description
Technical field
The invention belongs to control engineering and optimization field, and in particular in the case where can not accurately obtain signal field gradient
Based on gradient estimation autonomous type underwater robot field source searching method and system.
Background technology
Tellurian ocean area takes up an area the 71% of ball surface product, and wherein deep-sea marine site of the depth of water more than 500 meters accounts for sea again
85% or more of the foreign gross area.Be richly stored with mineral resources, petroleum resources, living resources etc. in the marine site of deep-sea, but the mankind
To the understanding in this piece field also in the very primary stage.Since 21st century, countries in the world gradually recognize that deep-sea is opened
The importance of hair, the input in deep-sea field are continuously increased, and the deep-sea competition of world's level is also increasingly fierce.A workman wants to do his work well,
The research of must first sharpen his tools, deep sea equipment is also carried out like a raging fire, due to marine environment obtain it is complicated and changeable, only with manpower carry out
Deep-sea exploration is filled with dangerous and uncertainty, therefore people also highlight deep-sea underwater Man's Demands.A variety of
In underwater robot, autonomous type underwater robot (AUV) is small with its, memory space is big, flexibility is strong, degree of intelligence is high etc.
Advantage obtains the favor of people.Therefore, the research for carrying out field source search to unknown marine site using AUV, gradually causes expert
The concern of scholars, wherein field source may be aquatic organism, electromagnetic signal emitter, chemical contamination source etc., so field source is searched for
It covers including problems such as biology positioning, aircraft black box search, pollution sources search.
When carrying out the field source search of underwater signal field using AUV, since location of source in marine site and signal field distribution are unknown,
AUV further determines that direction of advance firstly the need of estimation location of source.It is passed in a kind of field intensity signal with increasing away from field source distance
In the signal field subtracted, field source position is the maximum position of field strength, and therefore, field source search problem can utilize optimization problem model
It is solved.In fact, optimization problem has been a more mature research field, optimization method includes gradient method, newton
Method etc..Compared to many advanced optimization methods, gradient method is one kind compared with based on.Moreover, compared to the second order of signal field
Gradient information (i.e. Hessian matrix Hessian matrixes) and other order of information, the accuracy higher of signal field gradient estimation, meter
Calculation amount smaller, therefore, the application of gradient method is more extensive.By taking linear second-order system as an example, Attouch et al., which has studied, to be carried
The heavy ball system of frictional force using the control method for inputting speed damping term and gradient terms as the heavy ball system, and proves
Under the action of this control method, which has good Properties of Optimization, but this control method is to rely on two
Obtained from the linear system model of rank, and convergence rate is slower.Alvarez et al. extends gradient descent method,
A kind of control method is devised in conjunction with newtonian dynamics system and with the characteristics of friction heavy ball system, while there is above two control
The characteristics of fast convergence of method processed and flexibility.Signal field gradient information is introduced in control method can effectively realize mesh
Mark optimization, therefore, accurate gradient information is most important.Since gradient information cannot directly be obtained by the sensor assembled on AUV
, related scholars devise a series of gradient method of estimation, wherein the method for estimation that Rosero et al. is used is for double
The distributed consensus filtering method that integrating system designs；The artificial non-equilibrium volume the car design such as Frihauf and Jinbiao
Pole searches for (extremum seeking) method.But since these methods of estimation all design to obtain according to particular model,
Once being applied in the kinetic model of AUV, it can not necessarily ensure the stability of AUV systems.In contrast, Arranz et al.
The gradient method of estimation of design is the method independently of the system model involved by task, is more suitable for expansion and is applied to AUV systems
In.This method designs the multiple autonomous intelligent bodies for being equipped with sensor, such as AUV or unmanned plane form round formation, these
Autonomous intelligent body is uniformly distributed circumferentially, the signal that the gradient in the center of circle obtains measured by each circumference autonomous intelligent body
Field intensity information weighting obtains.The shortcomings that this method, is essence of the gradient estimation dependent on autonomous intelligent body formation control
Degree, once autonomous intelligent body cannot meet formation, then the gradient accuracy estimated can be greatly reduced, and can not ensure that field source is searched
The completion of rope task.
In general optimization problem, AUV kinetic models are usually simplified, such as Arranz et al. distinguishes AUV
It is reduced to first-order linear model or second-order linearity model, the design and analysis of such AUV control methods have obtained greatly simplifying.
But in fact, AUV is the truncated quadratic nonlinear models with hydrodynamics of coupling, in the control method designed for simplified model
Under the action of, larger change may occur for performance.For the advanced dynamic model of AUV, there is a large amount of research to concentrate on
Its motion control method, such as Elmokadem et al. have used sliding-mode control, Sahu et al. to use self adaptive control side
Method, Cervantes et al. has used the design of Backstepping progress control method, but these methods are laid particular emphasis on and carried out using AUV
The tracking for knowing position, there are no be extended to in unknown field source search mission.
Invention content
The purpose of the present invention is overcoming the shortcoming of prior art, a kind of autonomous underwater based on gradient estimation is proposed
Robot field source searching method and system.Present invention firstly provides the field source searching methods and system that utilize gradient estimation, and
And give the method for estimation of gradient.In the case that this field source searching method can ensure the gradient inaccuracy in optimization problem
AUV is still with predetermined posture and height close to location of source.
The present invention proposes a kind of autonomous type underwater robot field source searching method estimated based on gradient, which is characterized in that
This approach includes the following steps：
1) autonomous type underwater robot AUV field source chess game optimization models are built；
1-1) establish the kinetic model of AUV；
The kinetic model that the decision variable of AUV field source chess game optimization models is the state vector η, AUV of AUV is sat in the earth
It is expressed as following form in mark system：
Wherein, η=[x y z φ θ ψ]TIt is the state vector of AUV, six elements in vector indicate that AUV exists respectively
Six-freedom degree in three dimensions, x, y, z indicate to gush the coordinates of motion, y expressions before the translational motion in three dimensions, x indicate
Transverse motion coordinate, z indicate that heave movement coordinate, φ, θ, ψ indicate that the rotary motion in three dimensions, φ indicate to rotate around x-axis
Roll angle, θ indicates the yaw angle that rotate around y-axis, the pitch angle that ψ expressions are rotated around z-axis,Single order for state vector η is led
Number,For the second dervative of state vector η；M (η) indicates inertial matrix,Indicate Coriolis force and centripetal force matrix,Indicate that the damping matrix that hydrodynamics introduces, g (η) indicate gravity and torque matrix,Expression is applied on AUV
Power and torque；
1-2) determine the object function of Optimized model；
The vector target function of AUV field source chess game optimization models is as follows：
Wherein, η1=[x y]T, η2=[z φ θ ψ]T,zdIt is preset
AUV ideal heights, [φd θd ψd]TFor preset AUV ideal poses；
It is assumed that the origin of field source to be searched in the xoy planes of terrestrial coordinate system, then h (η1) and AUV three-dimensional space positions
Two norm ‖ η1‖ is inversely proportional, h (η1) indicate AUV in plan-position η1The negative logarithm of the signal field strength at place；
1-3) determine the assumed condition of Optimized model；It is specific as follows：
1-3-1) AUV states are assumed：The state vector η of AUV is maintained at nonsingular state；
1-3-2) vector target function is assumed：Function h (η1) Second Order Continuous can be micro-, Hessian matrix Hessian is expressed as Hh
(η), f1The Hessian of (η) is expressed as Hf1(η), and two Hessian matrix boundeds；
1-3-3) vector target function is assumed：h(η1) be forcing function, i.e., as ‖ η1When ‖ → ∞, h (η1)→∞；
2) it according to the demand of field source search mission, determines the model of AUV, and sensor is installed；
AUV main bodys and around install and pass centered on n+1 sensor, including 1 sensor in the AUV main bodys
Sensor is denoted as 0, remaining n edge sensor is denoted as 1,2,3...n；In the xoy planes of terrestrial coordinate system, central sensor 0
It is fixed in the main body of AUV, is expressed as p0, then have p0=η1；It is origin with sensor 0, with the forward speed direction of current AUV
For y-axis, the x-axis coordinate system for establishing sensing system vertical with y-axis；Edge sensor 1,2,3..n are located at central sensor 0
For the center of circle, radius is r and y-axis coordinate is more than or equal on 0 semicircle, and the central angle constituted between two neighboring edge sensor
Equal, position vector of the note edge sensor under terrestrial coordinate system is pi, i=1,2 ..., n are the number of edge sensor,
Then the position of edge sensor meets that the distance to sensor 0 is identical, and adjacent sensors are apart from equal, i.e.,：
Wherein, r indicate arbitrary edge sensor to central sensor distance；
3) AUV executes field source search mission；It is as follows：
Any position for 3-1) selecting marine site to be detected carries out laying for AUV as initial position, enables current time t=
t1, water reaches initial position under AUV, and sensor is started to work, and initial position is denoted as to the current location of AUV；
3-2) sensor measurement obtains the signal field strength of current location and sends AUV to；
3-3) signal field strength of the current locations AUV is judged：
If the signal field strength of current location is more than predetermined field strength threshold value, 3-4 is entered step), carry out current time
Source gradient estimation；
If the signal field strength of current location is less than predetermined field strength threshold value, AUV carries out U-shaped track to task sea to be detected
The inch-by-inch search that domain is traversed then enters step 3- until the signal field strength of current location is more than predetermined field strength threshold value
4) the field source gradient estimation at current time, is carried out；
3-4) gradient is estimated；
Current time, note are located at terrestrial coordinate system piThe signal field strength measured value of the sensor i of position is h (pi), by h
(pi) carry out Taylor expansion obtain：
Wherein, h (p0) centered on sensor p0Signal field strength measured value at position,Centered on sensor p0
Gradient at positionTransposition,
For higher order term, which is ignored, gradient is obtained and is estimated as：
Wherein, matrix
The one-component of object function is related with the two dimensional surface position of AUV：
Wherein,For gradient of the one-component relative to AUV state variables η in object function；
It is calculated according to the following formula：
Wherein,For gradient of second component relative to AUV state variables η, η in object function2For AUV itself
The attitude vectors of rotary motion,For the expectation posture to AUV itself rotary motions；
3-5) judge whether AUV reaches location of source；
JudgeWithWhether it is zero, if both for zero, AUV reaches location of source, field source search mission
Terminate；If any one is not zero among the two, 3-6 is entered step), motion control is carried out to AUV based on gradient estimation；
AUV motion controls 3-6) based on gradient estimation；
Utilize step 3-4) obtainWithThe control input at AUV current times, expression formula is calculated
It is as follows：
Wherein, k>0,α>0,β>0；For speed damping term,WithRespectively in object function
The negative gradient of the negative gradient estimation and second component of one-component；
Input will be controlled current time and be applied to AUV, AUV carries out movement until AUV, is reached new position by next moment
It sets and is denoted as current location, return to step 3-2).
The present invention proposes a kind of autonomous type underwater robot field source search system based on such as above method, including one from
Main formula underwater robot AUV sensor identical with several, each sensor are connected with AUV by wired mode respectively
It connects, which is characterized in that sensor centered on wherein 1 sensor is mounted in AUV main bodys, using central sensor as origin,
Using the forward speed direction of current AUV as y-axis, x-axis is vertical with y-axis, establishes the coordinate system of sensing system, remaining sensor point
It Wei Yu not be passed as edge on the semicircle using fixed range as radius and y-axis coordinate more than or equal to 0 using central sensor as the center of circle
Sensor, the central angle constituted between two neighboring edge sensor are equal；The sensor is used to measure the field of the current locations AUV
Strong information is simultaneously sent to AUV, and AUV is used to carry out gradient estimation and the AUV of signal field in real time according to the field intensity information received
Control input calculating, and according to result of calculation execute field source search mission.
The features of the present invention and advantageous effect are：
1) present invention only uses single autonomous type underwater robot (AUV), and the relative position of the sensor assembled on AUV is solid
It is fixed, the formation control of multiple AUV is eliminated, cost is reduced；
2) present invention carries out gradient estimation using the signal field strength information that sensor measures, and method of estimation is simple, calculates
Measure it is small, effectively increase gradient estimation accuracy, be more in line with the demand of practical application；
3) the method for the present invention is independent of AUV model parameters, can be applied to different model AUV unlike signal field field
In source search problem；
4) field intensity information of measuring signal field is only needed in the method for the present invention, the velocity information and posture information of AUV itself,
Required information content is small, and need not store historical information, requires the memory space of AUV small.
Description of the drawings
Fig. 1 is the overall flow block diagram of the method for the present invention.
Fig. 2 is multiple sensor mounting location schematic diagrames on AUV in the embodiment of the present invention.
Fig. 3 is the predetermined U-shaped search pattern schematic diagrames of AUV in the embodiment of the present invention.
Fig. 4 is the South Sea Partial Sea Area topographic map of the embodiment of the present invention.
Fig. 5 is the AUV emulation experiment three-dimensional track variation diagrams of the embodiment of the present invention.
Fig. 6 is the AUV emulation experiment two dimension trail change figures of the embodiment of the present invention.
Fig. 7 is the AUV emulation experiments height of the embodiment of the present invention, posture convergent figure.
Specific implementation mode
The present invention proposes a kind of autonomous type underwater robot (AUV) the field source searching method estimated based on gradient and system,
It is further described in the following with reference to the drawings and specific embodiments as follows.
A kind of autonomous type underwater robot field source searching method based on gradient estimation proposed by the present invention, considers a kind of field
Strong signal is with the signal field for increasing with field source distance and successively decreasing, and overall flow is as shown in Figure 1, include the following steps：
1) AUV field source chess game optimization models are built；
The field intensity signal of signal of concern field of the present invention is reduced with increasing at a distance from field source, scheduled AUV
Height and posture are modelings that is given in advance, and optimizing problem with this condition.
1-1) establish the kinetic model of AUV；
The kinetic model that the decision variable of AUV field source chess game optimization models is the state vector η, AUV of AUV is sat in the earth
It can be expressed as following form in mark system：
Wherein, η=[x y z φ θ η]TIt is the state vector of AUV, six elements in vector indicate that AUV exists respectively
Six-freedom degree in three dimensions, x, y, z indicate to gush the coordinates of motion before the translational motion in three dimensions, x indicate
(surge), y indicate transverse motion coordinate (sway), z be heave movement coordinate (heave), φ, θ, ψ indicate three dimensions in
Rotary motion, φ indicate that the roll angle (roll) rotated around x-axis, θ indicate that the yaw angle (pitch) rotated around y-axis, ψ are indicated around z
The dynamic pitch angle (heave) of shaft rotation,For the first derivative of state vector η,For the second dervative of state vector η；M (η) is indicated
Inertial matrix,Indicate Coriolis force and centripetal force matrix,Indicate the damping matrix that hydrodynamics introduces, g
(η) indicates known gravity and torque matrix,Indicate the power and torque that are applied on AUV.As can be seen that AUV's is dynamic
Mechanical model is a strong nonlinearity second order coupled system containing hydrodynamics, and is had the following properties that：
M (η) is symmetrical bounded matrix, i.e.,
M (η)=MT(η)
And for six-vector space R6In arbitrary vector s, there are normal numbers known to a certainmWith it is a certain it is known just
FunctionSo that：
Wherein,mIndicating the upper bound of inertia matrix, size is related with the physical parameter of AUV such as quality, rotary inertia,Indicate the lower bound of inertia matrix, size is related with the state vector of the physical parameter of AUV and AUV, but its concrete form
It is unknown.
For bounded matrix andFor antisymmetric matrix, i.e., for six-vector space R6In appoint
The vectorial s of meaning, has
For bounded matrix and it is stringent be just, i.e., for arbitrary state vector η ∈ R6With arbitrary state vector
LeadHave
1-2) determine the object function of Optimized model；
In field source search problem, on the one hand AUV is required to reach at the field source of signal field, present invention contemplates that in two dimension
The signal field being distributed in plane, on the other hand requires that AUV remains at certain altitude and certain posture scans for, two mesh
The vector target function that mark constitutes AUV field source chess game optimization models is as follows：
Wherein, η1=[x y]T, η2=[z φ θ ψ]T,zdIt is preset
AUV ideal heights, [φd θd ψd]TFor preset AUV ideal poses.
It is assumed that the origin of field source to be searched in the xoy planes of terrestrial coordinate system, then h (η1) and AUV three-dimensional space positions
Two norm ‖ η1‖ is inversely proportional.It can be seen that two component f of object function f (η)1(η) and f2The decision variable of (η) is AUV
State, actually one-component f1(η), second component f related with the position of AUV in two dimensional surface2(η) only and AUV
Height it is related with posture, the two is embodied as second equal sign right-hand side expression.Since signal field distribution information is unknown,
Function h (η1) concrete form can not directly write out, convert optimization problem to minimum objective function problem, h (η1) can be with table
Show AUV in plan-position η1The negative logarithm of the signal field strength at place, at this point, two component f of object function1(η) and f2(η) is equal
For strong convex function, object function f (η) has unique minimum point, is denoted as η*。
1-3) determine the assumed condition of Optimized model；
Include following three assumed condition in this optimization problem model, one is directed to AUV system models, and two other is directed to
The object function of optimization, it is specific as follows：
1-3-1) AUV states are assumed：The state vector η of AUV is maintained at nonsingular state.
1-3-2) vector target function is assumed：Function h (η1) Second Order Continuous can be micro-, Hessian matrix (Hessian) is expressed as Hh
(η), f1The Hessian of (η) is expressed as Hf 1(η), and two Hessian matrix boundeds.
This condition needs to use when analyzing the stability of AUV systems, and which limit the speed of signal field signal intensity.It is real
The signal field signal of nature may be discrete on border, but certain regularity is presented in its discrete distribution, can pass through
Smoothing method handles signal field, therefore disclosure satisfy that the hypothesis.
1-3-3) vector target function is assumed：h(η1) be forcing function, i.e., as ‖ η1When ‖ → ∞, h (η1)→∞.This condition
The stability analysis of system is applied equally to, although since signal field is unknown, function h (η1) concrete form be unable to get, but
It is that this condition can be met by the relationship between design function value and signal field strength, it is the present positions AUV such as to take functional value
Signal field strength negative logarithm.
2) it according to the demand of field source search mission, determines the model of AUV, and sensor is installed；
Before formally starting field source search mission, AUV is upper will to carry out a series of preparations, including AUV is selected, is multiple
The installation etc. of sensor.The model selection of AUV is decided by the submerged depth of this required by task, as needed AUV in the present embodiment
Submerged depth be 500 meters~1000 meters between, therefore select AUV models REMUS-600；Detection marine site is equipped on AUV
The sensor of signal field field intensity signal, sensor type and model selection are determined also according to specific field source search mission, such as this
In embodiment, the pt100 temperature sensors in deep-sea hydrothermal source are measured, measure Hydrothermal plumes concentration is integrated with Eh and PH electricity
The multi-parameter chemical sensor of pole.After AUV enters water, respective sensor also enters in water, former according to the work of sensor itself
Reason, can obtain the signal strength angle value of current time current location, and sent out in the form of digital signal.Sensor number
Amount is determined by the accuracy requirement of the field source positioning of the carrying ability and field source search mission of selected AUV.
AUV main bodys and around install and pass centered on n+1 sensor, including 1 sensor in the AUV main bodys
Sensor is denoted as 0, n edge sensor and is denoted as 1,2,3...n；In the xoy planes of terrestrial coordinate system, central sensor 0, peace
It in the main body of AUV, rigidly fixes and connect with AUV, be expressed as p0, then have p0=η1；It is origin with central sensor 0, to work as
The forward speed direction of preceding AUV is y-axis, the x-axis coordinate system normal thereto for establishing sensing system；Edge sensor 1,2,3..n
Positioned at being the center of circle with central sensor 0, radius is r and y-axis coordinate is more than or equal on 0 semicircle, and is uniformly distributed, two neighboring
The central angle constituted between edge sensor is equal, and position vector of the note edge sensor under terrestrial coordinate system is pi, i=1,
2 ..., n are the number of edge sensor, then the distance of position satisfaction to the sensor 0 of edge sensor is identical, adjacent sensors
Apart from equal, i.e.,：
Wherein, r indicate arbitrary edge sensor to central sensor distance；
The specific installation method of sensor is as shown in Fig. 2, for assembling 5 sensors in the present embodiment, including 1 position
In AUV central sensors, it is denoted as 0,4 edge sensors and is denoted as 1,2,3,4.In the xoy planes of terrestrial coordinate system, center passes
Sensor 0, in the main body of AUV, specific location is determined by the structure design of the AUV, is expressed as p0, then have p0=η1；In
Heart sensor 0 is origin, using the forward speed direction of current AUV as y-axis, the x-axis coordinate normal thereto for establishing sensing system
System；It with central sensor 0 is the center of circle that edge sensor 1,2,3,4, which is located at, using x-axis as on the semicircle of diameter, and is uniformly distributed, phase
The central angle that adjacent two edge sensors are constituted is 60 degree, and position vector of the note edge sensor under terrestrial coordinate system is
pi, i=1,2 ..., n are the number of edge sensor, and n=4, expression here shares 4 edge sensors, then edge sensor
Position meet that the distance to sensor 0 is identical, and adjacent sensors are apart from equal, i.e.,：
Wherein, r indicate arbitrary edge sensor to central sensor distance.The size of r is also by the carrying energy of selected AUV
The accuracy requirement of the field source of power and field source search mission positioning determines.
3) AUV carries out field source search mission；
The present invention measures the signal field strength of different location by sensing system, estimates the positions AUV
Gradient, then using gradient estimate carry out signal field field source search, be as follows：
Any position for 3-1) selecting marine site to be detected carries out laying for AUV as initial position, enables current time t=
t1, water reaches initial position under AUV, and sensor is started to work, and initial position is denoted as to the current location of AUV.
Sensor measurement 3-2) installed on AUV obtains the signal strength angle value of current location, and with digital signal form
Send the computing unit of AUV to.
3-3) judge the magnitude relationship of the signal field strength and predetermined field strength threshold value of the current locations AUV, the setting of the threshold value
It is related with signal field field source search mission, and certain priori is needed, threshold value setting is too low, can estimate too early into gradient
In the meter stage, obtained gradient estimation is inaccurate, and the direction of motion of AUV is made to differ excessive with field source direction；Threshold value setting is excessively high then
The speed for slowing down field source search into gradient estimation stages can be lagged, search efficiency is reduced.
If the signal field strength of current location is more than predetermined field strength threshold value, 3-4 is entered step), carry out current time
Source gradient estimation；
If the signal field strength of current location is less than predetermined field strength threshold value, AUV carries out U-shaped track to task according to Fig. 3
The inch-by-inch search that initially given marine site to be detected is traversed, i.e., move along a straight line according to AUV initial release states, until
The edge AUV for reaching the exploration marine site of Given task rotates 90 degree under body coordinate system；Forward preset distance turns over 90 again
Degree, preset distance are determined by the measurement range of the sensor on AUV and the accuracy requirement of field source search mission, if can measure
Range is larger, the accuracy requirement of field source search mission is relatively low, then the preset distance is larger, otherwise preset distance reduces；Directly
The exploration marine site edge for reaching Given task repeats above-mentioned movement locus.This is passed through in common field source search mission
Frequently with method, i.e., in the case of totally unknown to field source information, AUV is scanned for according to certain searching route,
Here the method that use is U-typed track search as described above.Until the signal field strength of current location is more than
When predetermined field strength threshold value, then U-shaped track search terminates, and enters step 3-4), carry out the field source gradient estimation at current time；
3-4) gradient is estimated；
Current time, note are located at terrestrial coordinate system piThe sensor i (including central sensor and edge sensor) of position
Signal field strength measured value be h (pi), by h (pi) carry out Taylor expansion can obtain：
Wherein, h (p0) centered on sensor p0Signal field strength measured value at position,Centered on sensor p0
Gradient at positionTransposition,
For higher order term, which is ignored, then can obtain gradient and be estimated as：
Wherein, matrixR is that each edge sensor arrives the distance between central sensor, it is noted that this
The one-component of object function is only related with the two dimensional surface position of AUV in invention, therefore：
Wherein,For gradient of the one-component relative to AUV state variables η in object function；p0For sensor 0
Location variable；
The gradient of another component of object function can be obtained by the attitude transducer and positioning system of AUV itself
The postures and height of AUV at this time, therefore,It can directly be calculated：
Wherein,For gradient of second component relative to AUV state variables η, η in object function2For AUV itself
The attitude vectors of rotary motion,For the expectation posture to AUV itself rotary motions.
3-5) judge whether AUV reaches location of source；
Under normal conditions, the computing unit entrained by AUV can complete step 3-4 moment) in gradient estimated value meter
It calculates, therefore at current time, as shown in formula (2), based on the AUV designs for carrying multiple sensors, in the signal for obtaining sensor
After field intensity measures, the Grad of current time signal field is calculated in computing unit, at this point, judging the of object function f (η)
One-component f1The gradient of (η) is estimatedWith second component f2(η) true gradientWhether it is zero, if the two is equal
It is zero, then AUV has reached location of source, and the field source search mission of AUV terminates；If entering there are one being not zero among the two
Next step 3-6), motion control is carried out to AUV based on gradient estimation.
AUV motion controls 3-6) based on gradient estimation；
The Grad obtained using estimationWith the Grad being calculatedCurrent time is calculated in AUV
Control input, specific control input computational methods are as follows：
Using the signal field gradient information estimated, the list-directed input list at AUV current times is shown as：
Wherein, k>0,α>0,β>0.For speed damping term, the boundedness of AUV speed ensure that；WithThe negative gradient of the negative gradient estimation and second component of one-component respectively in object function, because of gradient
Direction is that function is increased speed most fast direction, therefore negative gradient information is added in control method, AUV can be driven along target
Function declines most fast direction movement；G (η) is then used for compensating the gravity item in AUV kinetic models.By control method it is found that
The control method is more easily applied to independent of the parameter in AUV kinetic models in Practical Project.
Input will be controlled current time and be applied to AUV, AUV is moved, until next moment, AUV move to one
A new position, height, and AUV is reached into new position and is denoted as current location, again in this state with new posture
Return to step 3-2).
A kind of autonomous type underwater robot field source search system based on such as above method, including an autonomous underwater machine
Device people AUV sensors identical with several, each sensor are connect with AUV by wired mode respectively, and feature exists
In, wherein 1 sensor be mounted in AUV main bodys centered on sensor, using central sensor as origin, with current AUV's
Forward speed direction is y-axis, and x-axis is vertical with y-axis, establishes the coordinate system of sensing system, remaining sensor is located in
Heart sensor is the center of circle, is that radius and y-axis coordinate are more than or equal on 0 semicircle as edge sensor using fixed range, adjacent
The central angle constituted between two edge sensors is equal；The sensor is used to measure the field intensity information of the current locations AUV simultaneously
It is sent to AUV, gradient estimations and the control of AUV of the AUV for carrying out signal field in real time according to the field intensity information received are defeated
The calculating entered, and field source search mission is executed according to result of calculation.
The AUV models determine that AUV is as sensor by the submerged depth and carrying requirement of specific field source search mission
Carrier, carrying set sensor reach certain position, in addition, in AUV carry computing unit be responsible for calculate signal field gradient
Estimation and AUV control inputs；The sensor of detectable signal field field intensity signal is equipped on AUV, sensor type is by signal field
Signal type determines that number of probes and installation site are determined by the precise requirements of signal field field source search mission, sensor
Responsible measurement obtains the field intensity information of signal field, and the computing unit for being thus delivered to AUV carries out the calculating of gradient estimation.This implementation
Ratio sensor is according to described in step 2), as Fig. 2 is rigidly attached on AUV bodies.The model of AUV and sensor is by specific field
The signal type of source search mission, search range and search precision determine.
The method of the present invention simulation result and performance evaluation are as follows：
(1) simulation context explanation
The REMUS-600AUV of the quasi- REMUS series using the U.S. of the present invention is carried out to the gradient method of estimation of proposition and field
Source search control method carries out simulating, verifying.The task of AUV is detected to the sea-floor relief at the South Sea, and the minimum of seabed is found
Point.Fig. 4 is existing South Sea Partial Sea Area topographic map, it can be seen that this Partial Sea Area submarine relief is uneven, and executes and appoint in AUV
During business, the seabed depth value for the track that AUV is passed through can only be obtained by Sonar system.Using these measured values, by this
The gradient method of estimation of invention will obtain gradient estimated value, and applied in control method proposed by the present invention.
(2) simulation result and analysis
Gradient estimation of the sea floor height measured value that the present invention obtains AUV sensing systems for sea floor height, then
By the gradient estimated in the control method of AUV, obtaining following simulation result：
Fig. 5 show the trajectory diagram of AUV in the three dimensions of the embodiment of the present invention, it can be seen that as simulation time becomes
Change, AUV is moved by the gradual dive of initial position along certain orientation, and motion path is multipair to answer unknown sea floor height gradual
Reduce, finally move near the minimum point of this Partial Sea Area, movement terminating point is smaller at a distance from the minimum point of seabed, and should
Place's height differs only 4m with the height of minimum point.This illustrates the validity of the control method in field source search problem.
The three-dimensional track that Fig. 6 show the AUV of the embodiment of the present invention projects to result on two dimensional surface, it can be seen that
In the xoy planes that AUV terrestrial coordinates is fastened, by initial position, the contour of the direction of motion and seabed depth hangs down AUV substantially
Directly, in finite time, AUV is finally docked near minimum point close to seabed minimum point, smaller at a distance from minimum point.
This illustrates the accuracy of gradient estimation and the validity for the field source search control method estimated based on the gradient.
Fig. 7 show the height and attitudes vibration figure of the AUV of the embodiment of the present invention, it can be seen that in the initial rank of control
Section, AUV height are reduced steadily, and certain fluctuation is presented in AUV attitudes vibrations, but with the extension of control time, and AUV is progressivelyed reach
Predetermined altitude value and predetermined attitude value, height kept stable, posture is still by minor fluctuations.It then illustrates reaching predetermined height
The validity of the control method on degree and pose problem.
In conclusion can obtain, in finite time, AUV can reach scheduled height and posture, and error is very
It is small, while near AUV can touch the bottom, this illustrates the control method estimated based on gradient proposed in the present invention
Validity.
Claims (2)
1. it is a kind of based on gradient estimation autonomous type underwater robot field source searching method, which is characterized in that this method include with
Lower step：
1) autonomous type underwater robot AUV field source chess game optimization models are built；
1-1) establish the kinetic model of AUV；
The decision variable of AUV field source chess game optimization models is the kinetic model of the state vector η, AUV of AUV in terrestrial coordinate system
In be expressed as following form：
Wherein, η=[x y z φ θ ψ]TIt is the state vector of AUV, six elements in vector indicate AUV in three-dimensional space respectively
Between in six-freedom degree, x, y, z indicates to gush the coordinates of motion before the translational motion in three dimensions, x indicate, y indicates traversing fortune
Moving axes, z indicate that heave movement coordinate, φ, θ, ψ indicate that the rotary motion in three dimensions, φ indicate the rolling rotated around x-axis
Angle, θ indicate that the yaw angle rotated around y-axis, ψ indicate the pitch angle rotated around z-axis,For the first derivative of state vector η,For
The second dervative of state vector η；M (η) indicates inertial matrix,Indicate Coriolis force and centripetal force matrix,
Indicate that the damping matrix that hydrodynamics introduces, g (η) indicate gravity and torque matrix,Indicate to be applied to power on AUV and
Torque；
1-2) determine the object function of Optimized model；
The vector target function of AUV field source chess game optimization models is as follows：
Wherein, η1=[x y]T, η2=[z φ θ ψ]T,zdIt is managed for preset AUV
Think height, [φd θd ψd]TFor preset AUV ideal poses；
It is assumed that the origin of field source to be searched in the xoy planes of terrestrial coordinate system, then h (η1) with two models of AUV three-dimensional space positions
Number ‖ η1‖ is inversely proportional, h (η1) indicate AUV in plan-position η1The negative logarithm of the signal field strength at place；
1-3) determine the assumed condition of Optimized model；It is specific as follows：
1-3-1) AUV states are assumed：The state vector η of AUV is maintained at nonsingular state；
1-3-2) vector target function is assumed：Function h (η1) Second Order Continuous can be micro-, Hessian matrix Hessian is expressed as Hh(η), f1
The Hessian of (η) is expressed as Hf1(η), and two Hessian matrix boundeds；
1-3-3) vector target function is assumed：h(η1) be forcing function, i.e., as ‖ η1When ‖ → ∞, h (η1)→∞；
2) it according to the demand of field source search mission, determines the model of AUV, and sensor is installed；
AUV main bodys and around install and sense centered on n+1 sensor, including 1 sensor in the AUV main bodys
Device is denoted as 0, remaining n edge sensor is denoted as 1,2,3...n；In the xoy planes of terrestrial coordinate system, central sensor 0 is solid
It is scheduled in the main body of AUV, is expressed as p0, then have p0=η1；It is origin with sensor 0, is y with the forward speed direction of current AUV
Axis, the x-axis coordinate system for establishing sensing system vertical with y-axis；Edge sensor 1,2, it is circle that 3..n, which is located at central sensor 0,
The heart, radius is r and y-axis coordinate is more than or equal on 0 semicircle, and the central angle phase constituted between two neighboring edge sensor
Deng position vector of the note edge sensor under terrestrial coordinate system is pi, i=1,2 ..., n are the number of edge sensor, then
It is identical that the position of edge sensor meets the distance to sensor 0, and adjacent sensors are apart from equal, i.e.,：
Wherein, r indicate arbitrary edge sensor to central sensor distance；
3) AUV executes field source search mission；It is as follows：
Any position for 3-1) selecting marine site to be detected carries out laying for AUV as initial position, enables current time t=t1, AUV
Lower water reaches initial position, and sensor is started to work, and initial position is denoted as to the current location of AUV；
3-2) sensor measurement obtains the signal field strength of current location and sends AUV to；
3-3) signal field strength of the current locations AUV is judged：
If the signal field strength of current location is more than predetermined field strength threshold value, 3-4 is entered step), carry out current time field source ladder
Degree estimation；
If the signal field strength of current location is less than predetermined field strength threshold value, AUV carry out U-shaped track to task marine site to be detected into
The inch-by-inch search of row traversal then enters step 3-4 until the signal field strength of current location is more than predetermined field strength threshold value), into
The field source gradient at row current time is estimated；
3-4) gradient is estimated；
Current time, note are located at terrestrial coordinate system piThe signal field strength measured value of the sensor i of position is h (pi), by h (pi)
Taylor expansion is carried out to obtain：
Wherein, h (p0) centered on sensor p0Signal field strength measured value at position,Centered on sensor p0Position
The gradient at placeTransposition,For height
Rank, which is ignored, gradient is obtained and is estimated as：
Wherein, matrix
The one-component of object function is related with the two dimensional surface position of AUV：
Wherein,For gradient of the one-component relative to AUV state variables η in object function；
It is calculated according to the following formula：
Wherein,For gradient of second component relative to AUV state variables η, η in object function2It is rotated for AUV itself
The attitude vectors of movement,For the expectation posture to AUV itself rotary motions；
3-5) judge whether AUV reaches location of source；
JudgeWithWhether it is zero, if both for zero, AUV reaches location of source, field source search mission knot
Beam；If any one is not zero among the two, 3-6 is entered step), motion control is carried out to AUV based on gradient estimation；
AUV motion controls 3-6) based on gradient estimation；
Utilize step 3-4) obtainWithThe control input at AUV current times is calculated, expression formula is as follows：
Wherein, k>0,α>0,β>0；For speed damping term,WithRespectively first in object function
The negative gradient of the negative gradient estimation and second component of a component；
Input will be controlled current time and be applied to AUV, AUV carries out movement until at next moment, reach new position by AUV and remember
For current location, step 3-2 is returned to).
2. a kind of autonomous type underwater robot field source search system based on method as described in claim 1, including one autonomous
Formula underwater robot AUV sensors identical with several, each sensor are connect with AUV by wired mode respectively,
It is characterized in that, wherein 1 sensor be mounted in AUV main bodys centered on sensor, using central sensor as origin, to work as
The forward speed direction of preceding AUV is y-axis, and x-axis is vertical with y-axis, establishes the coordinate system of sensing system, remaining sensor distinguishes position
In using central sensor as the center of circle, sensed as edge on the semicircle using fixed range as radius and y-axis coordinate more than or equal to 0
Device, the central angle constituted between two neighboring edge sensor are equal；The sensor is used to measure the field strength of the current locations AUV
Information is simultaneously sent to AUV, gradient estimations and AUV of the AUV for carrying out signal field in real time according to the field intensity information received
The calculating of input is controlled, and field source search mission is executed according to result of calculation.
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