Autonomous underwater vehicle field source searching method and system based on gradient estimation

Abstract

The invention provides an autonomous underwater vehicle (AUV) field source searching method and system based on gradient estimation, and belongs to the field of control engineering and optimization. The method comprises the steps of constructing an AUV field source searching optimization model, determining the model of the AUV according to the searching task of the field source, installing a plurality of identical sensors; the AUV starting the field source searching from an initial position, and if the current position signal field intensity is larger than a preset field intensity threshold value, performing field source gradient estimation at the current moment, and determining whether the AUV reaches a field source position or not according to the gradient estimation result; and if the AUV does not reach the position of the field source, carrying out motion control on the AUV by utilizing the gradient estimation, the AUV moving to a new current position according to the control inputat the current moment, and repeating the process until the position of the field source is reached. According to the method and system, field source searching is carried out through gradient estimation for the first time, and an AUV still approaches the position of the field source at a preset posture and a height under the condition that the gradient is not accurate in the optimization problem.

Description

technical field [0001] The invention belongs to the field of control engineering and optimization, and in particular relates to an autonomous underwater robot field source search method and system based on gradient estimation under the condition that the signal field gradient cannot be accurately obtained. Background technique [0002] The ocean area on the earth accounts for 71% of the earth's surface area, and the abyssal sea area with a water depth greater than 500 meters accounts for more than 85% of the total ocean area. There are rich mineral resources, oil and gas resources, and biological resources in the deep sea, but human understanding of this area is still at a very early stage. Since the 21st century, countries around the world have gradually realized the importance of deep-sea development, investment in the deep-sea field has continued to increase, and deep-sea competition at the world level has become increasingly fierce. If a worker wants to do a good job, h...

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Problems solved by technology

For the complex dynamic model of AUV, a large number of studies have focused on its motion control method. For example, Elmokadem et al. used the sliding mode control method, Sahu et al. used the adaptive control method, and Cervantes et al. used the backstepping method for control method design, but these methods focus on using AUVs to track known positions, and have not been extended to unknown field source search tasks

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