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Multi-AUV formation control method based on viscous damped oscillation model

A technology of viscous damping and control methods, applied in the direction of non-electric variable control, height or depth control, control/regulation system, etc., can solve the problems of high reliability, high delay, short delay, etc., and achieve less communication information Effect

Inactive Publication Date: 2017-06-27
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

Restricted by the underwater environment, the information needed for AUV formation, such as the position and speed of other carriers, and the relative direction information between AUVs are difficult to obtain, and the delay in obtaining these information is often high, and the reliability poor
However, the distance information between AUVs is relatively easy to obtain, and the delay is short and the reliability is high

Method used

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  • Multi-AUV formation control method based on viscous damped oscillation model
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  • Multi-AUV formation control method based on viscous damped oscillation model

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Embodiment Construction

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0049]The present invention is made up of three AUVs, the course controller in the operation and AUV control computer and the distance between the carrier, the direction estimator, and the GPS and navigation system carried on the AUV, radio communication equipment and underwater acoustic communication machine and other equipment, the specific needs The following equipment:

[0050] Underwater acoustic communicator with ranging function: installed on AUV, used for periodic ranging between underwater robots, and aperiodically sending its own speed and heading information.

[0051] Control computer: used to monitor AUV pose information in real time, calculate relative direction information between AUVs, calculate distance information and direction information between AUVs in real time, and control and give AUV expected speed and expected course a...

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Abstract

The invention discloses a multi-AUV formation control method based on a viscous damped oscillation model. The model is a physical model, and enables an AUV in the formation to be taken as a mass block connected through a virtual spring, through analyzing the condition of virtual force bearing, a formation control rule is obtained. The method is suitable for the multi-AUV formation control in an environment where the communication is limited based on range finding information. The method mainly comprises the parts: an inter-AUV communication rule, an AUV formation control rule based on the viscous damped oscillation model, a condition that reasonable parameters in the formation control rule should meet, and an inter-AUV opposite direction information and distance information real-time estimation algorithm. The method is suitable for the multi-AUV formation under the condition that the communication is limited, is small in needed communication quantity in an underwater navigation process, is high in formation convergence speed, and is easy for popularization.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a multi-AUV formation control method based on a viscous damping oscillation model. Background technique [0002] AUV collaborative operation is a research hotspot in the field of underwater robots. Compared with a single AUV, the multi-AUV cooperative operation system can achieve task decomposition, thus covering a wider space and having stronger operational capabilities. It has broad application prospects in the fields of submarine resource survey, submarine terrain detection, and marine operations. [0003] AUV formation control is a basic subject of AUV collaborative operation, and many AUV collaborative operation tasks are completed on the basis of AUV formation. Restricted by the underwater environment, the information needed for AUV formation, such as the position and speed of other carriers, and the relative direction information between AUVs are difficult to ob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 李冠男徐红丽李宁林扬郑荣
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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