文档介绍：AUV空间运动自主行为学****与规划摘要自治式水下航行器(AUV,Autonomous Underwater Vehicle)是一种无人装备平台,通过搭载不同的传感器和任务模块,它可完成水下观测、海洋开发、海洋工程等多种任务。本文针对AUV空间运动的特点,提出了基于行为动力学的AUV自主智能体。深入研究了AUV自主行为智能体的运动规划。本文主要针对以下方面开展研究: 本文针对AUV在复杂海洋环境中的运动规划问题,提出了基于行为动力学的方法建立AUV自主智能体。建立了基于行为动力学的AUV水平面自主行为模型。依据模糊理论建立垂直面的定深航行行为和定高航行行为模型。提出了基于行为融合机制理念结合离散事件动态系统中自动机的方法的行为任务协调机制。仿真结果表明AUV的整体行为协调机制可靠、合理,能够成功地对AUV水平面和垂直面的行为运动进行协调。本文针对传统强化学****算法泛化能力差的缺点对其进行了改进,,使AUV学****系统的泛化性得到了很大的提升。将其应用到 AUV的自主行为学****规划中,。仿真结果表明,AUV在仿真环境中,通过其自主学****保存的学****经验实现了其在未知环境中的运动规划。充分验证了AUV自学****型智能体的学****的正确性和其较强的泛化能力。为了验证本文构建的AUV自主行为学****智能体的可靠性和合理性,设计了模拟仿真实验,并分别针对AUV智能体的自主行为能力和自学****能力设计了实验案例。通过实验表明,本文构建的AUV自主行为学****智能体能够顺利完成多种航渡和作业任务。关键词:自治式水下航行器;行为动力学;自主行为学****智能体;神经网络;;强化学****AUV空间运动自主行为学****与规划 Abstract Autonomous Underwater Vehicle(short forAUV)is anew concept ofunmanned carrying thedifferent sensors and themission modules,It plete theunderwater observatory,marine development,marine engineering and other thispaper,forspatial characteristics ofthemotion autonomous agent based on behavioranddynamics method articledeeply studiesthe motionplanning ofAUV Autonomous Behavior Agent. InthisP印er,severalaspects are studied asfollows: t11emotion planning problem plexity ofthemarine envffonment,the AUV autonomous agent isestablishedbased onbehavioranddynamics establishesindependent horiZontal independent behavioral model ofthe dynamics ofbehavior-based tofuzzytheory,the behavioralmodels of vertical fixed—deep navigation behavior and fLxed-high navigation behavior are bining behaviorfusionmechanism s ofthediscrete event dynamic systems,the behavior-task coordination mechanisms have been proposed. Simulation resultsshow that:theoverallbehavior ofcoordination mechanisms ofthe AUV isreliableandreasonable,and beable essfully coordinate behavior on the AUV horizontalandvertical movement. Thealgorithm ofthisarticlehasbeenimproved tothepoor generalizatio