Unknown environment route planning method of underwater cleaning robot

An operating robot, technology of unknown environment, applied in the field of industrial automation

Active Publication Date: 2010-09-15
HUNAN UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

This path planning method can realize the control of the stability of the robot underwater, efficiently avoid obstacles, and quickly complete planning, making the robot more hu

Method used

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  • Unknown environment route planning method of underwater cleaning robot
  • Unknown environment route planning method of underwater cleaning robot
  • Unknown environment route planning method of underwater cleaning robot

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Experimental program
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Embodiment 1

[0066] The overall frame diagram of the technical solution of the present invention is as follows figure 1 As shown, the specific steps are: 1) Calculate the current movement speed and position coordinates of the robot by calculating the measured values ​​of the acceleration sensor and the gyroscope angular acceleration sensor, and at the same time detect the distance and azimuth of nearby obstacles through the underwater laser ranging sensor.

[0067] Because the sliding of the robot in the direction perpendicular to the track wheels is very small and approximately negligible, the motion of the robot can be decomposed into the linear motion of the robot along the direction of the track (front-back direction) and the rotational motion of the vertical axis. Such as figure 2 As shown in (top view), the acceleration sensor and gyro sensor installed on the main body of the robot directly measure the acceleration in the front and rear directions of the robot (forward is positive, ...

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Abstract

The invention provides an unknown environment route planning method of an underwater cleaning robot, which is a self-adaptive learning fuzzy control method for planning a track in an unknown environment. The method is characterized in that: by simulating the route planning thought, obstacle avoiding through and intelligent thoughts for making a decision for determining the priority of quick planning and obstacle avoiding, three different sub fuzzy controllers are put forward correspondingly for solving three kinds of problems. Meanwhile, according to the estimation of the movement results of a controlled robot, the rule base of the fuzzy controller is modified correspondingly to make the fuzzy controller can handle more complex external disturbance and effectively solve the problem of U-shaped obstacles and symmetric obstacles, so that the robot can complete a planned task and arrive at a destination in a more complex environment. The method eliminates the uncertainty influences of an underground complex environmental factor on the route planning of the robot, improves the movement safety of the robot and enables the robot to well adapt to the complex underground industrial environment.

Description

technical field [0001] The invention belongs to the field of industrial automation, and relates to a path planning method for an underwater robot in an unknown environment, and is particularly suitable for path planning of a cleaning robot in an underwater complex and unknown environment. technical background [0002] With the continuous development of science and technology, the application of robots in the field of industrial automation is becoming more and more extensive, such as various industrial robots, industrial automation production lines, etc. However, when it is necessary to work around a larger target subject, fixed industrial robots and automated production lines will not be able to meet the requirements. At this time, industrial mobile robots will be able to complete the task due to their advantages of a wide range of activities. [0003] However, how the mobile robot moves and what path it chooses to meet the requirements of on-site operations has become the k...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 王耀南刘理朱江余洪山钱存海唐智国
Owner HUNAN UNIV
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