【作者】 郭轶尊；

【导师】 顾国昌；

【作者基本信息】 哈尔滨工程大学 ， 计算机应用技术， 2003， 硕士

【摘要】 21世纪是人类向海洋进军的世纪，智能水下机器人技术作为一种高技术手段在海洋开发和利用领域的重要性日益增强。本文以水下机器人自主标识雷区图的任务为背景，介绍了水下机器人的智能控制技术。主要研究了智能机器人标图规划系统及一些相关技术，包括智能系统的体系结构、多传感器的信息融合及搜索路径规划技术等。 首先，本文提出了一个面向任务集成的标图系统体系结构；介绍了系统设计的特点、各模块的功能；阐述了任务规划的原理和流程；设计了标图中各种控制状态的有限状态机模型。 然后，本文讨论了系统中的传感器信息融合问题。介绍了信息融合的目的和意义以及分类方法；设计了适用于标图系统的多传感器数据融合的模型。针对标图中的判断目标位置问题讨论了单传感器的数据融合技术，提出了融合方法，并通过试验数据对其进行验证。 接着，本文讨论了搜索路径规划技术。文中借鉴人工智能理论中的启发式搜索思想，提出了标图系统中的启发式搜索路径规划的概念。并且研究了一种启发式搜索算法，开发了仿真程序。 本文最后介绍了系统的嵌入式开发平台—VxWorks及其开发环境Tornado，以及软件开发技术。更多还原

【Abstract】 Ocean will be the significant field for human being to explore in the 21st century. As a high technical means to explore ocean, the technique of Autonomous Underwater Vehicle (AUV) is becoming increasingly important. In this paper, with the background of AUV mapping minefield mission, intelligent control technology is presented, intelligent robot mapping plan system and other correlative technologies are mainly researched, including intelligent system architecture, multisensor data fusion and paths searched plan.Firstly, in this paper a mission integration oriented architecture for mapping system is presented. The specialty of the system design and functions of each module are described. The principle and process of mission plan are expatiated. A FSM model for all control states in mapping system is designed.Secondly, the issue of sensor data fusion in this system is discussed. The purpose, meaning and classified methods of data fusion are introduced. A model of multisensor data fusion is designed for the mapping system. In order to estimate the position of object more exactly, the data fusion technology of single sensor is discussed. Then one kind of data fusion method is put forward, which is validated with the testing data.Thirdly, the technology of paths searched plan is discussed. Using heuristic search theory for reference, this paper presented the concept of heuristic paths searched plan technology for the mapping system. Then a heuristic search algorithm is studied, and a simulation program is completed.Finally, this paper introduces the embedded development tools: VxWorks and development environment Tornado, and introducessoftware realization technology.更多还原