Underwater robot mobile docking recovery path planning method and device

An underwater robot and path planning technology, applied in three-dimensional position/channel control, etc., can solve the problems of high cost and low flexibility

Pending Publication Date: 2020-05-29
HARBIN ENG UNIV
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0006] In summary, the existing autonomous underwater docking technology is mainly based on fixed docking, which has the defects of low flexibility and high cost

Method used

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  • Underwater robot mobile docking recovery path planning method and device
  • Underwater robot mobile docking recovery path planning method and device
  • Underwater robot mobile docking recovery path planning method and device

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Embodiment Construction

[0080] Embodiments according to the present invention will be described in detail below with reference to the drawings. When the description refers to the drawings, the same reference numerals in different drawings indicate the same or similar elements unless otherwise indicated. It should be noted that the implementations described in the following exemplary embodiments do not represent all implementations of the present invention. They are merely examples of apparatus and methods consistent with certain aspects of the present disclosure as recited in the claims, and the scope of the present invention is not limited thereto. On the premise of no contradiction, the features in the various embodiments of the present invention can be combined with each other.

[0081]In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technica...

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Abstract

The invention provides an underwater robot mobile docking recovery path planning method and device, and relates to the field of underwater robots, and the method comprises the steps: obtaining first positioning information, second positioning information and hydrodynamic parameters; establishing a spatial six-degree-of-freedom motion model according to the first positioning information and the hydrodynamic parameters; setting a position gravitation point and an attitude gravitation point according to the second positioning information, and determining virtual gravitation; determining a thrust,a vertical rudder force and a horizontal rudder force according to the virtual gravitation; substituting the thrust, the vertical rudder force and the horizontal rudder force into the spatial six-degree-of-freedom motion model, determining the pose of the underwater robot to be recovered at the next moment, and obtaining the pose of the mobile dock at the next moment; and judging whether the poses of the two moments are consistent at the next moment, and if so, ending the path planning task. According to the method, an efficient and accurate path planning method is provided for mobile dockingof the under-actuated underwater robot, the reliability of mobile docking is ensured, and the operation burden of personnel is effectively reduced.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to a path planning method and device for mobile docking and recovery of underwater robots. Background technique [0002] With the development of my country's navigation industry, more and more deep-sea exploration tasks require the participation of autonomous underwater vehicles (AUV), such as underwater reconnaissance, submarine construction, large-scale and long-range work network expansion and establishment. Waiting for work. Due to the limitation of the existing underwater communication capability and the limitation of its own energy, in the process of performing missions in the deep sea, AUV needs to dock with the docking station after the energy system warns, the operation data capacity is saturated, or the previous tasks are completed. In this way, tasks such as energy exchange between AUV and docking station, data upload, task download, position correction or carrier mainten...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 李柯垚李晔姜言清崔林涛武皓微
Owner HARBIN ENG UNIV
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