基于动态安全领域的水下机器人近底应急决策

安金鑫; 杨少龙; 向先波; 董东磊

doi:10.19693/j.issn.1673-3185.02533

基于动态安全领域的水下机器人近底应急决策

doi: 10.19693/j.issn.1673-3185.02533

华中科技大学船舶与海洋工程学院，湖北武汉 430074

基金项目: 国家自然科学基金资助项目(52071153)；中央高校基本科研业务费专项资金资助项目(2018KFYYXJJ015，2021yjsCXCY007)

详细信息

作者简介:
安金鑫，男，1998年生，硕士生。研究方向：水下机器人应急系统、路径规划。E-mail：an_jinxin@hust.edu.cn

杨少龙，男，1988年生，博士，副教授。研究方向：无人航行器航线规划与智能控制。E-mail：yangsl@hust.edu.cn

通信作者:
杨少龙

中图分类号: U674.941
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出版历程
- 收稿日期: 2021-09-18
- 修回日期: 2022-01-19
- 网络出版日期: 2023-04-20
- 刊出日期: 2023-04-28

Seabed collision emergency decision-making of AUV based on safety domain model

School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

基于动态安全领域的水下机器人近底应急决策由安金鑫，等创作，采用知识共享署名4.0国际许可协议进行许可。

摘要

摘要: 目的为了保障复杂未知环境下自主式水下机器人（AUV）的安全，防止意外触底，提出AUV近底动态安全领域模型，建立分级应急响应措施。方法建立AUV垂直面运动模型并通过超越试验对比验证，求解主动安全领域及被动安全领域距离，建立AUV近底航行动态安全领域模型，基于该模型设计AUV应急控制系统与应急策略。基于实时纵倾和对底高度状态，计算当前及未来危险系数，通过分配权重系数求得综合危险系数，用于指导AUV应急响应决策。结果通过分析湖试定深和定高航行试验，当河床高度相距AUV主动安全领域边界较近时，综合危险系数与河床高度的相关性较强，反之则较弱。结果表明，AUV应急控制系统在起伏地形下作业时能减少应急决策虚警，而在近底航行作业时又能减少应急决策漏警，从而实现在复杂起伏地形下近底航行时的合理应急决策。结论基于垂直面运动方程建立的近底安全领域模型与应急响应策略能够用于AUV水下航行近底危险实时预测，可提高AUV水下自主航行的安全性。
- 自主式水下机器人 /
- 安全领域模型 /
- 近底避险 /
- 应急决策
Abstract: Objectives To ensure safety and prevent seabed collisions in complex unknown underwater environments, this study proposes a seabed safety domain model and tiered emergency response strategies. Methods A vertical motion simulation model is established and verified by surpassing the test results, then used to calculate the active and passive safety domain distance of an autonomous underwater vehicle (AUV), thereby establishing a seabed safety domain model. An AUV emergency control system and emergency strategies are then built on the basis of the dynamic safety domain model. The trim and distance from the seabed of the AUV are used to calculate the current and future risk factors. Based on the weighted sum, the comprehensive risk factor is employed to provide the AUV with emergency response strategies. Results Lake tests with the AUV sailing at a fixed depth and height show a strong dependency of the comprehensive risk coefficient on seabed height when it is close to the boundary of the AUV's active safety domain. In the opposite case, there is a weak dependency of the comprehensive risk coefficient on seabed height. The results show that the proposed AUV emergency control system can reduce emergency false alarms caused by frequently changing riverbed heights and sailing altitudes close to the seabed. In such cases, reasonable emergency strategies can be realized under complex rough terrain. Conclusions The AUV seabed safety domain model and tiered emergency response strategies based on vertical motion equations proposed herein can be applied to evaluate seabed collision risk in various cases. Finally, this paper provides emergency response strategies to avoid seabed collision accidents, which can enhance the safety of AUV navigation.
- autonomous underwater vehicle /
- safety domain model /
- seabed collision risk /
- emergency decision-making

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图 1 AUV大地坐标系与附体坐标系

Figure 1. Earth-and body-fixed coordinate systems of AUV

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图 2 舵角时历曲线对比

Figure 2. Comparison of rudder angle curve

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图 3 AUV垂直面运动响应仿真与湖试结果对比

Figure 3. Simulation and lake test comparison of AUV vertical motion response curve

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图 4 AUV近底动态安全领域模型示意图

Figure 4. Diagram of bottoming dynamic safety domain model

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图 5 AUV应急响应决策框架

Figure 5. AUV emergency response framework

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图 6 AUV多状态应急判断逻辑

Figure 6. AUV multi-state emergency judgment logic

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图 7 AUV与河床轮廓的相对危险位置分析

Figure 7. Analysis of relative position between AUV and riverbed profile

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图 8 确定综合危险系数组成权重

Figure 8. Weight determination of comprehensive risk factor

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图 9 AUV传感器和执行机构布置示意图

Figure 9. Layout diagram of AUV sensors and actuators

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图 10 试验AUV和湖试场地

Figure 10. Lake test AUV and test site

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图 11 试验AUV控制架构

Figure 11. Control architecture for AUV testing

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图 12 AUV定深航行任务时序图

Figure 12. Sequence diagram of AUV for fixed depth navigation

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图 13 定深航行危险系数曲线

Figure 13. Risk factor curve of fixed depth navigation

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图 14 AUV定高航行任务时序图

Figure 14. Sequence diagram of AUV for fixed height navigation

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图 15 定高航行危险系数计算

Figure 15. Calculation of risk factor for fixed height navigation

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表 1 AUV大地坐标系与附体坐标系变量含义

Table 1. Notation of AUV in earth frame and body frame

		位置/m	姿态角/rad	线速度/(m∙s⁻¹)	角速度	力/N	力矩
大地坐标系	ξ轴	x	φ	$ \dot{x} $	$ \dot{\phi } $	X_E	K_E
	η轴	y	θ	$ \dot{y} $	$ \dot{\theta } $	Y_E	M_E
	ζ轴	z	ψ	$ \dot{{\textit{z}}} $	$ \dot{\varPsi } $	Z_E	N_E
附体坐标系	x轴	$ {x}' $	$ \gamma $	$ u $	$ p $	$ X $	$ K $
	y轴	$ {y}' $	$ a $	$ v $	$ q $	$ Y $	$ M $
	z轴	$ {{\textit{z}}}' $	$ \beta $	$ w $	$ r $	$ Z $	$ N $

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表 2 超越试验仿真和湖试的特征参数对比

Table 2. Comparison of feature parameters between simulation and lake test for the overtaking maneuver

$ u $/ (m∙s⁻¹)	${\delta _{\rm{r}}}$/（°）	$ \theta $/（°）	${\theta }_{{\rm{ov}}}$/（°）			${\xi }_{ {\rm{ov} } }$/m
$ u $/ (m∙s⁻¹)	${\delta _{\rm{r}}}$/（°）	$ \theta $/（°）	仿真	湖试	误差/%	仿真	湖试	误差/%
3	10	10	5.83	5.9	1.2	0.988	1.40	29.40
1	20	20	2.49	2.9	14.1	0.100	0.11	9.09

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表 3 河床相对AUV轮廓变化趋势及应急触发条件

Table 3. Riverbed change trend and emergency judgment

判断条件1	判断结果1	判断条件2	判断结果2
$ \Delta D < \Delta S $	河床呈上升趋势	${\theta _0} \leqslant {\theta _{\rm{r}}}$	进入应急决策
$ \Delta D < \Delta S $	河床呈上升趋势	${\theta _0} > {\theta _{\rm{r}}}$	不进入应急决策
$ \Delta D > \Delta S $	河床呈下降趋势	$\left\| { {\theta _0} } \right\| \geqslant {\theta _{\rm{r}}}$	进入应急决策
$ \Delta D > \Delta S $	河床呈下降趋势	$\left\| { {\theta _0} } \right\| < {\theta _{\rm{r}}}$	不进入应急决策
$ \Delta D = \Delta S $	河床呈平缓趋势	$ {\theta _0} \leqslant {0^ \circ } $	进入应急决策
$ \Delta D = \Delta S $	河床呈平缓趋势	$ {\theta _0} > {0^ \circ } $	不进入应急决策

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表 4 综合危险系数与危险等级的对应关系

Table 4. Corresponding relationship between comprehensive risk factors and risk levels

综合危险系数$ \rho $	危险等级
<0.25	无危险
0.25～0.5	轻度危险
0.5～0.75	中度危险
>0.75	重度危险

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表 5 危险等级与应急响应措施的对应关系

Table 5. Corresponding relationship between risk levels and emergency response measures

危险等级	应急响应措施
危险等级	推进器停止	满上浮舵	满方向舵	抛载
无危险	否	否	否	否
轻度危险	是	否	否	否
中度危险	是	是	否	否
重度危险	是	是	是	是

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