Automatic obstacle avoidance method for intelligent underwater robots

Abstract

The invention relates to an automatic obstacle avoidance method for intelligent underwater robots, in particular to a method for considering underwater robot moving objects and obstacles and underwater robot control performances integrally to achieve obstacle avoidance. The method comprises performing global path planning according to job tasks and chart database information; reading underwater robot motion sensor information and obstacle avoidance sonar information; calculating underwater robot safety alerting distances, and establishing a safe virtual outer casing of an underwater robot; determining whether obstacle avoidance is needed; and determining whether an object is reached, and the task is completed if the object is reached. According to the automatic obstacle avoidance method, effects of speed information of underwater robots are introduced in robot obstacle avoidance strategies, local obstacle avoidance planning and control and hydrodynamic performances of underwater robots are combined, established obstacle avoidance strategies can reflect dynamic obstacle avoidance capacities of underwater robots, and underwater robot survival capabilities are improved.

Description

technical field [0001] The invention relates to an obstacle avoidance method for an intelligent underwater robot, in particular to a method for realizing obstacle avoidance through unified consideration of moving targets, obstacles and control performance of the underwater robot. Background technique [0002] Intelligent underwater robots have broad application prospects in marine scientific research, marine development, underwater engineering, and military affairs. Intelligent underwater robots generally work in complex ocean environments. In order to better complete various missions and their own life safety, they need to have the ability to avoid obstacles autonomously, and be able to perceive and act on the collision hazards that may be caused by obstacles in the surrounding environment. respond accordingly. [0003] There are many autonomous obstacle avoidance methods for underwater robots, such as potential field method, fuzzy collision avoidance method and so on. Th...

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Problems solved by technology

However, although this method considers the motion control performance of the underwater robot and other factors when determining the safety distance of the motion balance point, the designed safety distance is a fixed value, especially without considering the influence of the speed of the underwater robot on the obstacle avoidance ability. And when considering the motion control ability of the underwater robot, it is also considered to be invariable. These actually cannot truly reflect the dynamic changes of the underwater robot in actual work.

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