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Obstacle avoidance method used for underwater robot and based on distance and parallax information

An underwater robot and parallax technology, applied in three-dimensional position/channel control and other directions

Active Publication Date: 2015-04-29
YANSHAN UNIV
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  • Summary
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above method is designed based on distance information, but it is not enough to only consider distance information, because real-time and effective obstacle avoidance behavior requires not only distance information, but also perspective information. For example, when people are avoiding obstacles, the effective obstacle avoidance route is jointly established by distance and parallax adjustment

Method used

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  • Obstacle avoidance method used for underwater robot and based on distance and parallax information
  • Obstacle avoidance method used for underwater robot and based on distance and parallax information
  • Obstacle avoidance method used for underwater robot and based on distance and parallax information

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Embodiment 1

[0058] Embodiment 1: The sampling period is δ>0, and the prediction step size is The prediction time domain is T=N r δ, the prediction time is t k = t 0 +kδ, where The predictive control problem is structured as follows:

[0059] at the update time t k , for underwater robots: given the current state z(t k ) and the control input in the prediction time domain where τ∈[t k ,t k +T], to solve the optimal control problem similar to the following

[0060] J * ( t k , z * ( t k ) , u * ( · ) ) = min u ( · ...

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Abstract

An obstacle avoidance method used for an underwater robot and based on distance and parallax information comprises steps as follows: a control device performs overall path planning on the underwater robot according to an operation task and nautical chart database information; a detection sonar and a camera are taken as overall and local obstacle measuring instruments respectively so as to obtain relative distance and parallax information of the underwater robot and an obstacle; then the control device judges whether obstacle avoidance is required and adopts predictive control to adjust an obstacle avoidance strategy; if the underwater robot arrives to a target point, the path planning is finished. The obstacle avoidance method has the advantages of capacity of dynamically adjusting the obstacle avoidance strategy, better path, good avoidance effect, high reliability and the like, can handle complex obstacles, and improves the reliability of the underwater robot for executing the tasks.

Description

technical field [0001] The invention relates to the technical field of intelligent control of underwater robots, in particular to an obstacle avoidance method for underwater robots by fusing distance and parallax information. Background technique [0002] Underwater robots have a wide range of application values ​​in the fields of shipwreck search and rescue, underwater anti-intrusion technology, and species tracking and detection. In the underwater environment, sediments such as shipwrecks and reefs make the underwater environment very complicated. If the underwater robot cannot actively and effectively avoid these obstacles, it may lead to the failure of the underwater robot to perform tasks or even damage the underwater robot. . [0003] Searching in the existing technology found that the Chinese patent application number is 201310488141.8, and the name is: Collision avoidance method for underwater robots based on forward-looking sonar. This method introduces forward-loo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 闫敬杨晛关新平罗小元华长春
Owner YANSHAN UNIV
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