Multi-robot underwater target search method and device based on biological tentacles model

A multi-robot, underwater target technology, applied in the field of multi-robot target search, can solve problems such as increasing the requirements for autonomous obstacle avoidance of robots, affecting the efficiency of robot path planning, and inability to accurately complete the construction of underwater environment maps.
CN103869824BActive Publication Date: 2017-02-08HOHAI UNIV CHANGZHOU
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HOHAI UNIV CHANGZHOU
Publication Date
2017-02-08

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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.
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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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