论文标题
部分可观测时空混沌系统的无模型预测
Development of a Simulation Environment for Evaluation of a Forward Looking Sonar System for Small AUVs
论文作者
论文摘要
储层计算是预测湍流的有力工具，其简单的架构具有处理大型系统的计算效率。然而，其实现通常需要完整的状态向量测量和系统非线性知识。我们使用非线性投影函数将系统测量扩展到高维空间，然后将其输入到储层中以获得预测。我们展示了这种储层计算网络在时空混沌系统上的应用，该系统模拟了湍流的若干特征。我们表明，使用径向基函数作为非线性投影器，即使只有部分观测并且不知道控制方程，也能稳健地捕捉复杂的系统非线性。最后，我们表明，当测量稀疏、不完整且带有噪声，甚至控制方程变得不准确时，我们的网络仍然可以产生相当准确的预测，从而为实际湍流系统的无模型预测铺平了道路。
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater vehicles (AUVs). The simulator achieves real-time visualization through ray tracing and approximation. The simulator facilitates the assessment of sonar design choices, such as beam pattern and beam location, and assessment of obstacle detection and tracking algorithms. An obstacle detection model is proposed for which the null hypothesis is estimated from the environmental model. Sonar data is generated from the simulator and compared to the expected results from the detection model demonstrating the benefits and limitations of the proposed approach.
