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Cooperative control system and method based on unmanned surface vehicle and multiple underwater robots

An underwater robot, collaborative control technology, applied in three-dimensional position/channel control, autonomous decision-making process, etc.

Inactive Publication Date: 2020-04-21
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above problems, the present invention proposes a cooperative control system and method based on unmanned boats and multiple underwater robots, and uses a self-organizing mapping neural network method to solve multi-machine cooperation, information sharing, Multitasking and real-time path planning problems

Method used

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  • Cooperative control system and method based on unmanned surface vehicle and multiple underwater robots
  • Cooperative control system and method based on unmanned surface vehicle and multiple underwater robots
  • Cooperative control system and method based on unmanned surface vehicle and multiple underwater robots

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Embodiment 1

[0114] An embodiment of the present invention provides a cooperative control system based on unmanned boats and multiple underwater robots, such as figure 1 shown, including an unmanned vehicle and multiple robots;

[0115] The unmanned boat dynamically generates underwater survey and search targets and path planning information corresponding to each robot based on the obtained geographic locations of all underwater survey and search targets, underwater terrain information, and real-time geographic locations of all robots;

[0116] Each robot receives the underwater survey search target and path planning information sent by the unmanned boat, and performs target search according to the path planning information. When encountering obstacles, it bypasses obstacles according to the path planning information; During the target reconnaissance process, when arriving near an underwater suspicious target, collect the image information of the underwater suspicious target and compare an...

Embodiment 2

[0179] Based on the same inventive concept as in Embodiment 1, an embodiment of the present invention provides a cooperative control method based on an unmanned vehicle and multiple underwater robots, including:

[0180] Utilize the unmanned vehicle to dynamically generate underwater survey and search targets and path planning information corresponding to each robot based on the obtained geographic locations of all underwater survey and search targets, underwater terrain information, and real-time geographic locations of all robots;

[0181] Utilize each robot to receive the underwater survey search target and path planning information sent by the unmanned boat, perform target search according to the path planning information, and when encountering an obstacle, bypass the obstacle according to the path planning information; During the search target survey process, when it reaches a certain underwater suspicious target, collect the image information of the underwater suspicious ...

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Abstract

The invention discloses a cooperative control system and a cooperative control method based on an unmanned surface vehicle and multiple underwater robots. The cooperative control system comprises theunmanned surface vehicle and the multiple robots. The unmanned surface vehicle generates underwater exploration search targets and path planning information corresponding to all the robots based on obtained geographical positions of all the underwater exploration search targets, the underwater topographic information and the real-time geographical positions of all the robots; each robot receives the underwater exploration search target and the path planning information sent by the unmanned surface vehicle; and the search targets are investigated according to the path planning information, andimage information of a underwater suspicious target is acquired and compared with the received underwater exploration search targets until image video shooting and data acquisition of the suspicious target and the search targets are completed in the process of executing search target exploration when the underwater suspicious target is close to the underwater suspicious target. According to the cooperative control system, the SOM network is adopted to solve the problems of multi-machine cooperation, information sharing, multi-task allocation and real-time path planning of the unmanned surfacevehicle and multiple underwater robots.

Description

technical field [0001] The invention belongs to the technical field of sea-air interface robot cooperation, and in particular relates to a cooperative control system and method based on an unmanned boat and multiple underwater robots. Background technique [0002] On the earth where human beings live, the ocean occupies 71% of the earth's surface area, which is much larger than the proportion of land. With the continuous deepening of human understanding and exploration of the ocean, the development of marine science and technology has been accelerated. People are gradually realizing the importance of marine development, especially in the 21st century, facing the three major problems of deteriorating environment, increasing population and decreasing resources, the exploration and development of marine resources has received more and more attention. [0003] Autonomous Underwater Vehicle (AUV) is an important tool for marine resources and underwater environment exploration. W...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/0088G05D1/10
Inventor 郭铁铮陈巍夏细明杨雪陈国军郭覃李佩娟陈凯杰陈伟刘静
Owner NANJING INST OF TECH
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