一种重心可调式长航程AUV机敏地形跟踪算法
An Agile Terrain Following Algorithm for a Long-Range AUV with Adjustable Center of Gravity
乔佳楠 1王冰 2胡峰 2黄琰 2谢宗伯 1王振宇 2康加奇 3俞建成2
作者信息
- 1. 中国科学院大学;中国科学院沈阳自动化研究所机器人与智能系统全国重点实验室
- 2. 中国科学院沈阳自动化研究所机器人与智能系统全国重点实验室
- 3. 中科星图深海科技有限公司
- 折叠
摘要
自主水下航行器（AUV）是开展海底调查任务的关键装备，其在复杂海底地形中保持稳定跟踪航行的能力，是获取高质量海底感知数据的重要前提。传统AUV海底地形跟踪系统多依赖多推进器系统实现，但在能效方面难以满足长期作业需求。为此，本文提出一种基于重心调节模块与升降舵模块、浮力调节模块协同驱动长航程AUV海底地形跟踪系统。针对此套系统，本文通过建立动力学模型，分析了AUV俯仰角对升降舵偏转与重心调节滑块位移的动态响应特性，形成多执行机构协同控制依据；同时，针对海底地形跟踪作业场景，本文提出一种基于观测坡度阶梯化的AUV目标俯仰角自适应补偿双级联控制方法，以AUV舵角最小化航行效率最大化为优化目标，实现对AUV航行深度/高度的精确控制。最后，基于“海鲸1000”型AUV平台，在中国南海海域开展了海上试验验证。试验结果表明，在平坦与起伏两类典型海底地形条件下，重心可调式长航程AUV均展现出优良的地形跟踪性能，验证了本文所提出的系统及地形跟踪控制方法的可行性与有效性。
Abstract
Autonomous Underwater Vehicles (AUVs) are key equipment for conducting seabed survey missions. Their ability to maintain stable tracking navigation over complex underwater terrain is a crucial prerequisite for acquiring high-quality seabed perception data. Traditional seabed terrain tracking systems largely rely on multi-thruster systems, which struggle to meet long-term operational requirements in terms of energy efficiency. To address this, this paper proposes a seabed terrain following system for long-range AUVs, driven by the coordinated action of a center-of-gravity adjustment module, an elevator module, and a buoyancy regulation module. For this system, a dynamic model is established to analyze the dynamic response characteristics of the AUV pitch angle to elevator deflection and the displacement of the center-of-gravity adjustment slider, forming the basis for multi-actuator cooperative control. Furthermore, in the context of seabed terrain tracking operations, this paper proposes a dual-cascaded control method with adaptive compensation of the target pitch angle based on observed slope discretization. The optimization objective is to minimize the AUV rudder angle while maximizing navigation efficiency, thereby achieving precise control over the AUVs diving depth/altitude. Finally, based on the "Sea-whale 1000" AUV platform, the research team conducted sea trials in the South China Sea. The experimental results demonstrate that under both flat and undulating typical seabed terrain conditions, the long-range AUV with adjustable center of gravity exhibits excellent terrain tracking performance, validating the feasibility and effectiveness of the proposed system and terrain tracking control method.关键词
长航程AUV/双级联控制/海底坡度观测/机敏地形跟踪控制Key words
long-range AUV/dual cascade control/seabed slope observation/agile terrain following control引用本文复制引用
乔佳楠,王冰,胡峰,黄琰,谢宗伯,王振宇,康加奇,俞建成.一种重心可调式长航程AUV机敏地形跟踪算法[EB/OL].(2025-12-29)[2026-01-02].https://chinaxiv.org/abs/202512.00253.学科分类
海洋学
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