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

		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 } $	XE	KE
	η轴	y	θ	$ \dot{y} $	$ \dot{\theta } $	YE	ME
	ζ轴	z	ψ	$ \dot{{\textit{z}}} $	$ \dot{\varPsi } $	ZE	NE
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 $

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

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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

Table 3. Riverbed change trend and emergency judgment

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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

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

Table 5. Corresponding relationship between risk levels and emergency response measures
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Table 5. Corresponding relationship between risk levels and emergency response measures
危险等级应急响应措施
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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Jinxin AN, Shaolong YANG, Xianbo XIANG, Donglei DONG. Seabed collision emergency decision-making of AUV based on safety domain model[J]. Chinese Journal of Ship Research, 2023, 18(2): 184

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Paper Information

Category: Ship Design and Performance

Received: Sep. 18, 2021

Accepted: --

Published Online: Mar. 20, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.02533

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

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

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

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

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

Table 3. Riverbed change trend and emergency judgment

Table 3. Riverbed change trend and emergency judgment

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

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

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

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