用贝叶斯方法评估水下蛇形机器人在狭窄环境中的失联风险。
Risk Assessment of an Autonomous Underwater Snake Robot in Confined Operations
- 基于贝叶斯框架构建风险评估模型
- 识别导致机器人失联的关键影响因素
- 适用于深海探测与复杂水域任务规划
海洋探索需求日益增长，对狭窄、高要求环境的检测与干预能力提出挑战。具有细长体态和可变构型能力的柔性水下机器人Eely，适合此类场景。然而，在受限环境中操作Eely面临严峻挑战：需应对不确定且无结构的环境、极端条件及导航能力下降等问题。本文提出一种贝叶斯方法，用于评估Eely在两种任务场景中失联的风险。研究目标是提升Eely性能与任务成功率。通过敏感性分析，揭示了对失联概率影响最大的关键因素。
原文摘要 · Abstract (English)
The growing interest in ocean discovery imposes a need for inspection and intervention in confined and demanding environments. Eely's slender shape, in addition to its ability to change its body configurations, makes articulated underwater robots an adequate option for such environments. However, operation of Eely in such environments imposes demanding requirements on the system, as it must deal with uncertain and unstructured environments, extreme environmental conditions, and reduced navigational capabilities. This paper proposes a Bayesian approach to assess the risks of losing Eely during two mission scenarios. The goal of this work is to improve Eely's performance and the likelihood of mission success. Sensitivity analysis results are presented in order to demonstrate the causes having the highest impact on losing Eely.
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