Cluster recycling control method, device, device and readable storage medium

A control method and cluster technology, applied in the field of robotics, can solve the problems of inefficiency of multiple AUVs, reduce recovery time and recovery cost, solve inefficiency, and improve practicability.

Active Publication Date: 2022-07-01
PENG CHENG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to provide a cluster recovery control method, aiming to solve the technical problem of low efficiency of manually salvaging multiple AUVs

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  • Cluster recycling control method, device, device and readable storage medium
  • Cluster recycling control method, device, device and readable storage medium
  • Cluster recycling control method, device, device and readable storage medium

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Embodiment Construction

[0040] It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0041] like figure 1 shown, figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0042] The terminal in the embodiment of the present invention may be a PC, or may be a mobile terminal device with a display function, such as a smart phone and a tablet computer.

[0043] like figure 1 As shown, the terminal may include: a processor 1001 , such as a CPU, a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user i...

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Abstract

The invention discloses a cluster recovery control method, device, equipment and medium. The cluster recovery control method realizes recovery of a plurality of autonomous underwater submersibles AUVs by using an unmanned surface vehicle USV through two-part operations. The first part is to determine the initial recovery path planning and recovery sequence of AUV; the second part is to update the initial recovery path based on model predictive control MPC. Specifically, by establishing the dynamic models of multiple AUVs and USVs, and determining the objective function for determining the optimal order and path for recovering AUVs according to the constraints, possible collisions during the recovery process are avoided; by using external approximations The algorithm solves the nonlinear integer programming problem, and obtains the optimal recycling sequence and initial recycling path. Compared with the traditional manual recycling method, the time cost is greatly reduced; by obtaining the actual measurement value, the recycling path is continuously optimized, and the recycling efficiency is further improved. Efficient, fast, safe and automated cluster recycling of multiple AUVs.

Description

technical field [0001] The present invention relates to the field of robotics technology, and in particular, to a method, device, device and readable storage medium for cluster recycling control. Background technique [0002] Autonomous Underwater Vehicle (AUV) is an autonomous unmanned underwater vehicle that performs underwater tasks without being controlled by an operator. The AUV recovery technology is to ensure that the AUV can be quickly recovered after returning to the voyage after performing the specified task. It is a cutting-edge technology in the field of marine applications. At present, the most commonly used recycling method is manual salvage by the crew of the mother ship. The automation level and efficiency of this recycling method are relatively low, and it is very time-consuming and labor-intensive. It usually takes more than 30 minutes to recover an AUV, resulting in multiple manual salvage. The technical problem of AUV's inefficiency. In addition, the me...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06F30/20G06K9/62B63C11/52G06F111/04
CPCG06Q10/047B63C11/52G06F18/23213
Inventor 黄裘俊张爱东李胜全常亮朱华陆海博
Owner PENG CHENG LAB
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