A Method of Tracking an Underwater Robot Using a Surface Robot

Abstract

The invention relates to the field of underwater robotics, particularly to a method of tracking an underwater robot by use of an on-water robot to achieve autonomous tracking of the underwater robot by the on-water robot. The underwater robot starts an underwater acoustic communication set MA installed on the back of the underwater robot, and sends navigational state information of the underwater robot periodically to an underwater acoustic communication set MB installed at the bottom of the on-water robot; the underwater acoustic communication set MB sends the navigational state information to an on-water robot computer; the on-water robot computer calculates and outputs a heading angle control command and a speed control command so that the on-water robot moves in accordance with the control commands. The device provided by the invention requires only one on-water robot and two underwater acoustic communication sets with no other auxiliary devices; the underwater acoustic communication sets are easy to install and can be installed anywhere on the back of the underwater robot or at the bottom of the on-water robot; and the autonomous tracking algorithm program is convenient to transform and suitable for various robots.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a method for using a surface robot to track an underwater robot, so as to realize the autonomous execution and tracking of the underwater robot by the surface robot. Background technique [0002] When the underwater robot is navigating underwater, operators on land need a device and method for tracking the underwater robot, so as to know the navigation status of the underwater robot in real time and confirm whether it is working normally. A conventional tracking device and method is to use a mother ship to perform a tracking task with human participation. This method uses the position information obtained by the ship-borne ultra-short baseline positioning system or the ship-borne underwater acoustic communication device, and then the operator on the mother ship adjusts the speed and course of the mother ship to make it track the underwater robot. Due to the limitations...

AI Technical Summary

Problems solved by technology

Due to the limitations of water depth, voyage, facilities, personnel costs and other conditions, conventional tracking methods often have high requirements on ships and manning and are complicated to use, and the cost is very high; due to the influence of mother ship noise, the tracking performance is also poor, so conventional methods Can not meet the needs of stable tracking

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