Biological antenna model-based multi-robot underwater target searching method and device

A multi-robot, underwater target technology, applied in the field of multi-robot target search, can solve the problems that affect the efficiency of robot path planning, increase the requirements for autonomous obstacle avoidance of robots, and cannot accurately complete the construction of underwater environment maps, etc.

Active Publication Date: 2014-06-18
HOHAI UNIV CHANGZHOU
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Problems solved by technology

This not only increases the requirements for the robot to avoid obstacles autonomously, but also makes the robot unable to accu

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  • Biological antenna model-based multi-robot underwater target searching method and device
  • Biological antenna model-based multi-robot underwater target searching method and device
  • Biological antenna model-based multi-robot underwater target searching method and device

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Embodiment Construction

[0077] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0078] Implement a kind of hardware device composition block diagram of the present invention as figure 1 As shown, it includes an underwater detection vessel and four underwater robots, among which four underwater robots are mounted on the four edges of the underwater detection vessel, and both the underwater detection vessel and the underwater robots are equipped with underwater communication equipment , a central processing unit, a storage device, a sonar sensor, and a manipulator at the front end of the underwater detection ship. The underwater robot detects the real-time information of the environment through the sonar sensor, and uses the underwater communication equipment to send the environmental information to the underwater detection ship. The underwater detection ship receives the information and completes the construction of the grid map on the ce...

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Abstract

The invention relates to a biological antenna model-based multi-robot underwater target searching method and device. After an underwater detection ship carrying multiple underwater robots reaches a target searching area, all the underwater robots are driven to move by biological antenna models and send detected environmental information data to the underwater detection ship; according to the environmental information data, the underwater detection ship updates a raster map in real time and broadcasts to all the underwater robots; when one certain underwater robot finds a target, information is broadcast to the other underwater robots and the underwater detection ship; the underwater detection ship grabs the target by a mechanical arm after arriving the position of the target, and the other underwater robots board on the underwater detection ship after moving to the position of the target. The invention provides the method and the device which have the advantages that the robots are driven to move by the biological antenna models so as to complete a target searching task by the multiple robots in an unknown environment, and the target searching efficiency of the underwater robots can be greatly improved.

Description

technical field [0001] The invention belongs to the field of multi-robot target search in an underwater unknown environment, is an application of the combination of robot technology and biological perception technology, and in particular relates to a multi-robot underwater target search method and device based on a biological antennae model. Background technique [0002] Underwater target search is one of the important contents of underwater operations. The underwater environment is harsh, and it is difficult to achieve underwater target search with general equipment. Therefore, people put their eyes on the robot. Due to the vast underwater area, the search efficiency of a single robot is low, and the research on underwater multi-robot technology has developed accordingly. [0003] The underwater environment is time-variable. As time goes by, objects in the environment will move and change the state of the environment due to the influence of the water flow. This not only in...

Claims

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Application Information

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IPC IPC(8): G05D1/12
Inventor 倪建军李新云吴榴迎范新南刘小峰
Owner HOHAI UNIV CHANGZHOU
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