水面無人艇局部危險(xiǎn)避障算法研究

Local Risk Obstacle Avoidance Algorithm of USV

---

博主 的碩士畢業(yè)論文

參考文獻(xiàn)

[1] Manley J E. Unmanned surface vehicles, 15 years of development[C]. OCEANS 2008. Quebec City, Canada: 2008: 1-4.
[2] 徐玉如，蘇玉民，龐永杰. 海洋空間智能無人運(yùn)載器技術(shù)發(fā)展展望[J]. 中國艦船研究， 2006, 1(3): 1-4.
[3] 天鷹. 從無人水面艇的軍事應(yīng)用看 中國海軍無人水面艇的發(fā)展前景[J]. 艦載武器， 2012(2): 28-34.
[4] 周洪光，馬愛民，夏朗. 無人水面航行器發(fā)展[J]. 國防科技， 2009, 30(6): 17-20, 30.
[5] Bertram V. Unmanned surface vehicles - a survey[J]. Technical report, cole Nationale Suprieure des Ingnieurs des tudes et Techniques d’armement (ENSIETA), 2008.
[6] James C. Autonomous Mission Planning and Execution for Unmanned Surface Vehicles in Compliance with the Marine Rules of the Road[M]. Washington: University of Washington, 2007.
[7] THE NAVY UNMANNED SURFACE VEHICLE (USV) MASTER PLAN [M]. 2007: xi.
[8] 李家良. 水面無人艇發(fā)展與應(yīng)用[J]. 火力與指揮控制， 2012(06): 203-207.
[9] 王素麗. 國外無人水面艇一瞥[J]. 航海， 2006(6): 7-11.
[10] 廖煜雷. 無人艇的非線性運(yùn)動控制方法研究[D]. 哈爾濱工程大學(xué), 2012.
[11] 吳恭興. 無人艇操縱性與智能控制技術(shù)研究[D]. 哈爾濱工程大學(xué), 2011.
[12] 李大光，姜燦. 無人艇：未來海上的新銳武器[N]. 解放軍報(bào), 2014-02-12(第08版：時事新聞).D Li, C Jiang.
[13] 趙勁松. 航天新光自主研發(fā)天象一號無人船為青島奧帆賽提供氣象保障[N]. 2008-07-24(第1版).J Zhao.
[14] 無人水面（機(jī)器人）巡航艇USV[J]. 軍民兩用技術(shù)與產(chǎn)品， 2007(第10期): 18.
[15] 張英浩，孫玉山，萬磊，等. 一種智能水下機(jī)器人部署裝置. 中國，CN102826210A[P]， 2012-12-19.
[16] 王建華，顧偉，褚建新，等. 一種多功能水面機(jī)器人. 中國，CN201254266[P]， 2009-06-10.
[17] 楊松林，朱仁慶，崔健，等. 小水線面半潛復(fù)合水面無人艇. 中國，CN102923262A[P]， 2013-02-13.
[18] 盧艷爽. 水面無人艇路徑規(guī)劃算法研究[D]. 哈爾濱工程大學(xué), 2010.
[19] Siegwart R, Nourbakhsh I R, Scaramuzza D. Introduction to autonomous mobile robots[M]. 李人厚, 宋青松. 西安: 西安交通大學(xué)出版社, 2011: 293-306.
[20] Lumelsky V J, Stepanov A A. Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape[J]. Algorithmica, 1987, 2(1-4): 403-430.
[21] Borenstein J, Koren Y. The vector field histogram-fast obstacle avoidance for mobile robots[J]. IEEE Journal of Robotics and Automation, 1991, 7(3): 278-288.
[22] Ulrich I, Borenstein J. VFH+: Reliable obstacle avoidance for fast mobile robots[C]. Proceedings of the International Conference on Robotics and Automation(ICRA`98). Leuven, Belgium: 1998: 1572-1577.
[23] Ulrich I, Borenstein J. VFH*:Local obstacle avoidance with look-ahead verification[C]. Proceedings of the IEEE International Conference on Robotics and Automation. San Francisco, USA: 2000: 2505-2511.
[24] 馬闖，殷波，馬文帥. 水上機(jī)器人三維實(shí)時避障算法研究[J]. 微計(jì)算機(jī)信息， 2009(8): 235-237.
[25] Simmons R. The curvature-velocity method for local obstacle avoidance[C]. Proceedings of the IEEE International Conference on Robotics and Automation. Minneapolis, USA: 1996: 3375-3382.
[26] Nak-Yong K, Simmons R G. The lane-curvature method for local obstacle avoidance[C]. Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’98). Victoria, Canada: 1998: 1615-1621.
[27] Fox D, Burgard W, Thrun S. Controlling synchro-drive robots with the dynamic window approach to collision avoidance[C]. Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems. Osaka, Japan: 1996: 1280-1287.
[28] Brock O, Khatib O. High-speed navigation using the global dynamic window approach[C]. Proceedings of 1999 IEEE International Conference on Robotics and Automation. Detroit, USA: 1999: 341-346.
[29] Guoyang L, Yingying W, Wei W. Guided dynamic window approach to collision avoidance in troublesome scenarios[C]. Proceedings of the 7th World Congress on Intelligent Control and Automation. Chongqing, China: 2008: 5759-5763.
[30] 唐平鵬，張汝波，史長亭，等. 水面無人艇分層策略局部危險(xiǎn)規(guī)避[J]. 應(yīng)用科學(xué)學(xué)報(bào)， 2013(04): 418-426.
[31] 唐平鵬，喬梁，張汝波. 水面無人艇近程反應(yīng)式危險(xiǎn)規(guī)避方法研究[J]. 華中科技大學(xué)學(xué)報(bào)（自然科學(xué)版）， 2011, 39(z2): 400-402, 406.
[32] 王敏捷，張汝波. 水面無人艇模糊近域圖避障方法研究[J]. 計(jì)算機(jī)工程， 2012, 38(21): 164-167.
[33] 王敏捷. USV自適應(yīng)局部危險(xiǎn)規(guī)避方法研究[D]. 哈爾濱工程大學(xué), 2012.
[34] Philippsen R, Siegwart R. Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot[C]. the IEEE International Conference on Robotics and Automation. Taibei, Taiwan, China: 2003.
[35] 祖?zhèn)? 基于粒子群優(yōu)化算法的水下潛器實(shí)時路徑規(guī)劃技術(shù)研究[D]. 哈爾濱工程大學(xué), 2008.
[36] 莊肖波，齊亮. 高速無人艇動目標(biāo)避碰規(guī)劃方法研究[J]. 艦船電子工程， 2008(12): 95-97.
[37] Benjamin M R, Curcio J A, Leonard J J, et al. Navigation of unmanned marine vehicles in accordance with the rules of the road[C]. Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Orlando, Florida, USA: 2006: 3581-3587.
[38] Svec P, Schwartz M, Thakur A, et al. Trajectory planning with look-ahead for Unmanned Sea Surface Vehicles to handle environmental disturbances[C]. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, CA, USA: 2011: 1154-1159.
[39] Soltan R A, Ashrafiuon H, Muske K R. State-dependent trajectory planning and tracking control of unmanned surface vessels[C]. 2009 American Control Conference Hyatt Regency Riverfront. St. Louis, MO, USA: 2009: 3597-3602.
[40] Larson J, Bruch M, Halterman R, et al. Advances in autonomous obstacle avoidance for unmanned surface vehicles[C]. AUVSI Unmanned Systems North America. Washington, USA: DTIC Document, 2007: 484-498.
[41] Simmons R, Henriksen L, Chrisman L, et al. Obstacle avoidance and safeguarding for a lunar rover[C]. AIAA Forum on Advanced Developments in Space robotics. Madison, WI, USA: 1996.
[42] Casalino G, Turetta A, Simetti E. A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields[C]. OCEANS 2009 - EUROPE. Bremen, German: 2009: 1-8.
[43] Caccia M, Bono R, Bruzzone G, et al. Design and Exploitation of an Autonomous Surface Vessel for the Study of Sea-Air Interactions[C]. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain: 2005: 3582-3587.
[44] Naeem W, Sutton R, Chudley J. Modelling and control of an unmanned surface vehicle for environmental monitoring[C]. UKACC International Control Conference. Glasgow, Scotland, UK: 2006.
[45] Petres C, Romero-Ramirez M, Plumet F. Reactive path planning for autonomous sailboat[C]. The 15th International Conference on Advanced Robotics. Tallinn, Estonia: 2011: 112-117.
[46] Lee S, Kwon K, Joh J. A fuzzy logic for autonomous navigation of marine vehicles satisfying COLREG guidelines[J]. International Journal of Control Automation and Systems, 2004, 2: 171-181.
[47] 莊佳園，蘇玉民，廖煜雷，等. 基于航海雷達(dá)的水面無人艇局部路徑規(guī)劃[J]. 上海交通大學(xué)學(xué)報(bào)， 2012(09): 1371-1375.
[48] 莊佳園，張國成，蘇玉民，等. 水面無人艇危險(xiǎn)規(guī)避方法[J]. 東南大學(xué)學(xué)報(bào)（自然科學(xué)版）， 2013, 43(z1): 126-130.
[49] 王哲. 無人艇自動避碰策略的研究[D]. 大連海事大學(xué), 2013.
[50] Eberhart R K J. A new optimizer using particle swarm theory[J]. Proc of Int Symposium on Micro Machine and Human Science, Piscataway, IEEE Service Center, 1995: 39-43.
[51] 楊維，李歧強(qiáng). 粒子群優(yōu)化算法綜述[J]. 中國工程科學(xué)， 2004, 6(5): 87-94.
[52] 秦元慶，孫德寶，李寧，等. 基于粒子群算法的移動機(jī)器人路徑規(guī)劃[J]. 機(jī)器人， 2004(03): 222-225.
[53] 孫波，陳衛(wèi)東，席裕庚. 基于粒子群優(yōu)化算法的移動機(jī)器人全局路徑規(guī)劃[J]. 控制與決策， 2005(09): 1052-1055.
[54] Barequet G, Har-Peled S. Efficiently Approximating the Minimum-Volume Bounding Box of a Point Set in Three Dimensions[J]. Journal of Algorithms, 2001, 38(1): 91-109.
[55] 張麗平. 粒子群優(yōu)化算法的理論及實(shí)踐[D]. 浙江大學(xué), 2005.
[56] 莊佳園，張國成，蘇玉民，等. 水面無人艇危險(xiǎn)規(guī)避方法[J]. 東南大學(xué)學(xué)報(bào)（自然科學(xué)版）， 2013, 43(z1): 126-130.
[57] Benjamin M R, Leonard J J, Curcio J A, et al. A method for protocol-based collision avoidance between autonomous marine surface craft[J]. Journal of Field Robotics, 2006, 23(5): 333-346.
[58] 席裕庚，張純剛. 一類動態(tài)不確定環(huán)境下機(jī)器人的滾動路徑規(guī)劃[J]. 自動化學(xué)報(bào)， 2002(02): 161-175.
[59] 張純剛，席裕庚. 動態(tài)未知環(huán)境中移動機(jī)器人的滾動路徑規(guī)劃及安全性分析[J]. 控制理論與應(yīng)用， 2003, 20(1): 37-44.
[60] 張純剛，席裕庚. 全局環(huán)境未知時基于滾動窗口的機(jī)器人路徑規(guī)劃[J]. 中國科學(xué)E輯:技術(shù)科學(xué)， 2001(01): 51-58.

博主 的碩士畢業(yè)論文

---

===========文檔信息============
版權(quán)聲明：非商用自由轉(zhuǎn)載-保持署名-注明出處
署名(BY) ：dkjkls（dkj卡洛斯）
文章出處：http://my.csdn.net/dkjkls

總結(jié)

以上是生活随笔為你收集整理的水面无人艇局部危险避障算法研究 参考文献的全部內(nèi)容，希望文章能夠幫你解決所遇到的問題。

如果覺得生活随笔網(wǎng)站內(nèi)容還不錯，歡迎將生活随笔推薦給好友。