Dynamic positioning method using underwater detection and operation robot

A technology of underwater robots and working robots, applied in the field of robotics, can solve problems such as poor convergence, easy divergence, and slow approach of ships to target points

Active Publication Date: 2016-10-26
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

The patent document with the application number "201410090281.4" discloses a "control method and control system for ship dynamic positioning system", but the PID control algorithm adopted has poor convergence, which makes the ship approach the target point slowly and is prone to Oscillation; the patent document with the ap

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  • Dynamic positioning method using underwater detection and operation robot
  • Dynamic positioning method using underwater detection and operation robot
  • Dynamic positioning method using underwater detection and operation robot

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Embodiment Construction

[0106] Since the positioning ability of the underwater robot is greatly affected by environmental disturbances, in order to solve this problem, the present invention adopts an adaptive unscented Kalman filter algorithm (AUKF). Compared with other filtering algorithms, the self-adaptive unscented Kalman filtering algorithm adopted in the present invention has a better tracking and filtering effect under the influence of factors such as external interference, acceleration physical characteristics and human manipulation, and the uncertainty model It has good robustness and high accuracy of state estimation.

[0107] The present invention will be described in further detail below in conjunction with the accompanying drawings. Such as figure 1 , figure 2 Shown is the algorithm flow chart of the underwater robot dynamic positioning system based on the adaptive unscented Kalman filter state observer and the non-singular terminal sliding mode controller, and describes the processin...

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Abstract

The invention discloses a dynamic positioning method using an underwater detection and operation robot. The method solves the problem of uncertainty caused by a reason that dynamic positioning is disturbed by waves, and in combination with the developed novel underwater detection and operation robot, based on a hydrodynamic digital simulation recognition parameter method, a dynamic model is established for dynamic positioning analysis of six degrees of freedom. The position and the heading of the underwater robot are acquired via a sensor, the state of the underwater robot is estimated in real time by adopting an adaptive unscented Kalman filter algorithm, the thrust is compensated by adopting non-singular terminal sliding mode control to reduce the influence of random such as waves and the like, and a force and torque distribution strategy is designed according to the positioning error. The method has a good dynamic positioning effect, and can quickly adjust the dynamic distribution strategy after disturbance to reduce the negative effect of the disturbance.

Description

technical field [0001] The invention relates to an underwater detection and operation robot, in particular to a dynamic positioning method for an underwater detection and operation robot, and belongs to the technical field of robots. Background technique [0002] With the depletion of land resources, the development and utilization of marine resources has played a huge role in promoting human development and social progress. Underwater robot (ROV), as one of the means to develop the ocean, has been receiving extensive attention and research. In recent years, most underwater robots at home and abroad only have the capability of floating or crawling, and underwater robots that can realize the two modes of floating and climbing walls are relatively rare. The underwater detection and operation robot is a novel modular, multi-functional, remote-controlled underwater robot with cables, which can freely switch between floating and crawling modes, and perform underwater operations,...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 曾庆军梁凇刘慧婷张明
Owner JIANGSU UNIV OF SCI & TECH
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