Autonomous underwater robot and path following control method and device

Abstract

The embodiments of the invention provide an autonomous underwater robot and path following control method and device and relate to the robot technology field. The method comprises the following stepsof obtaining a built autonomous underwater robot motion system; generating a nonlinear dynamic system of the autonomous underwater robot motion system according to a physics principle; receiving a real-time position acquired by the positioning module of the autonomous underwater robot, and rewriting the real-time position according to a dynamic model; and generating a nonlinear robust inverse stepcontroller based on a disturbance term of the autonomous underwater robot, the real-time position and a preset input-state stability theory, and controlling the autonomous underwater robot motion system so that the autonomous underwater robot autonomously and independently completes precise path following operation and achieves stable operation.

Description

technical field

[0001] The present invention relates to the technical field of robots, in particular to an autonomous underwater robot and a path following control method and device. Background technique

[0002] Autonomous underwater robots can replace or assist humans to complete various difficult or dangerous tasks underwater without human real-time control, and their research and development is very important. Underwater robots work in an underwater environment full of unknowns and challenges. Complex underwater environments such as wind, waves, currents, and deep water pressure seriously interfere with the movement of underwater robots. Traditional path-following control for land robots cannot be easily extended to underwater applications. In the path-following control of underwater robots, path control strategies in complex underwater environments must be sought. Contents of the invention

[0003] In view of this, the purpose of the embodiments of the present invent...

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