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Underwater bionic robot cooperated transportation method

A bionic robot and transportation method technology, applied in the field of multi-robot collaborative transportation, can solve the problems of large interference in water, difficulty in establishing a hydrodynamic model for underwater robot control, and many uncertain factors

Inactive Publication Date: 2009-02-04
PEKING UNIV
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  • Claims
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Problems solved by technology

[0004] In view of the particularity and complexity of underwater robot control and the difficulty in establishing hydrodynamic models, large disturbances in water, and many uncertain factors, the purpose of this invention is to provide a new underwater robot in a complex underwater environment. Bionic Robot Collaborative Transportation Method

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  • Underwater bionic robot cooperated transportation method

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Embodiment Construction

[0065] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0066] The present invention divides the cooperative transportation problem into four sub-problems to solve: 1. pose control; 2. path planning; 3. synchronous control; 4. transportation direction control. The bionic robot fish is taken as an example below for illustration.

[0067] 1. Pose control based on the "limit cycle" method

[0068] In the second-order nonlinear autonomous system, there is an important class of motion expressed by isolated closed orbits, which not only plays a very important role in the theory of differential equations itself, but also in the application of engineering technology. This kind of isolated closed orbits is called It is a "limit cycle", and any point starting from any position converges to the "limit cycle", and moves periodically along it. Since the classical control method cannot guarantee that the underwater ro...

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Abstract

The invention relates to a cooperation transport method of underwater bionic robot, comprising (1), state control based on limit ring theory, path design based on conform circle method, (3), synchronous control based on fuzzy assertion, (4), transport direction control based on fuzzy assertion. The invention uses the state control method based on limit ring method, flexibly controls the speed and direction of the underwater robot, to confirm the state of the robot is converged to the target state to resolve the state control problem. The path design method can reduce the robot control complexity in complex underwater condition and simplify the dimension of program space. And the motion design method based on fuzzy assertion can effectively avoiding the underwater robot to impact transport object via inertia. Therefore, the invention realizes synchronous control of robot and the stable control on the direction of transport object.

Description

technical field [0001] The invention relates to a multi-robot collaborative transport method, in particular to a collaborative transport method for underwater bionic robots. Background technique [0002] With the development of society, the application field of robots is constantly expanding. From automated production lines to people's daily life, from marine resource exploration to space operations, robots are everywhere. However, as far as the current level of robot technology is concerned, single robots have great limitations in terms of information acquisition, processing, control capabilities, decision-making and adaptability, etc., especially in complex tasks and dynamic environments. The ability is even more insufficient. When transporting dangerous materials, complex roads or relatively small spaces, a single robot needs to integrate various systems such as navigation system, delivery system, and communication system. The development of this highly integrated syste...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 张丹丹王龙谢广明
Owner PEKING UNIV
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