Coordinated planning and control method of underwater mobile operation robot

Abstract

The present invention discloses a coordinated planning and control method of an underwater mobile operation robot. The method includes the following steps that: a currently desired velocity and state are planned in real time through a dynamic tracing differentiator; an iterative task priority method is adopted to transform task planning in the Cartesian space into velocity and accelerated velocity planning of the Lagrangian coordinate system and each joint coordinate system; and a dynamics method is adopted to control a submersible vehicle and an operating arm according to the velocity and accelerated velocity planning, and therefore, the underwater mobile operation robot can cruise and operate. According to the coordinated planning and control method of the underwater mobile operation robot of the present invention, the desired velocity and desired state of each task at present are planned; a state observer is adopted to estimate the state and velocity of a current task and feed back the state and velocity to control input; the robust iterative task priority method is adopted to achieve closed-loop control; and therefore, the autonomous level of the underwater mobile operation robot is improved, and therefore, fully-autonomous cruise and operation of the underwater mobile operation robot can be realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a coordinated planning and control method for an underwater mobile operation robot. Background technique [0002] The vast ocean provides abundant resources for human beings, and the efficient utilization and sustainable development of marine resources is of great significance to human beings. Human exploration of the ocean has never stopped. From the most primitive manned underwater vehicles, to remote-controlled underwater vehicles, and now to the research of fully autonomous unmanned underwater vehicles, these have greatly promoted the development of human beings. Ocean awareness and development. Especially in marine aquaculture, my country's near-shallow sea aquaculture industry has developed rapidly, and the output of various aquatic products is huge. Due to backward fishing technology, it is facing the dilemma of low efficiency, shallow sea environmental pollution, vegetati...

AI Technical Summary

Problems solved by technology

Europe, the United States and Japan have developed various types of underwater robot operating systems. These operating robots generally carry out underwater operations through remote control or semi-autonomous methods, and there are generally disadvantages such as insufficient autonomy and high operating technology requirements.

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