Trajectory tracking control method of underwater inspection robot

Abstract

The invention discloses a trajectory tracking control method of an underwater inspection robot. The method comprises the following steps: (1) presetting a reference trajectory for trajectory trackingof the underwater inspection robot, obtaining an optimal path from a starting point to a target point by using a navigation path planning algorithm according to the reference trajectory, and taking the optimal path as a preset reference trajectory of trajectory tracking of the robot; (2) designing a trajectory tracking kinematic controller in combination with the reference trajectory and a kinematic model; (3) carrying out stress analysis on the underwater inspection robot, establishing a dynamic model, and designing a trajectory tracking dynamic controller; and (4) taking a control value of the kinematic controller as input of the dynamic controller to obtain a thrust and a torque required by trajectory tracking, and realizing smooth and stable trajectory tracking control of the underwater inspection robot. By designing a dynamic target function, a problem of speed jump is solved, a lag between an actual trajectory and the reference trajectory is reduced, the shortest tracking step length optimization function item is added into the target function, the path length of the actual trajectory is reduced, and then trajectory tracking energy consumption is decreased; in addition, the influence of the actual underwater environment on trajectory tracking is also considered, and finally smooth and stable trajectory tracking control is realized.

Description

technical field [0001] The invention belongs to the technical field of robot trajectory tracking control, and in particular relates to a trajectory tracking control method of an underwater inspection robot. Background technique [0002] Autonomous underwater robot is an important tool for exploring the ocean world, developing seabed resources and completing other underwater operations. As an important branch of robots, underwater inspection robots play an important role in tasks such as seabed resource survey, underwater target detection, underwater pipeline inspection, and dam crack detection. Trajectory tracking control in 3D underwater environment is a hot and difficult issue in the research field of underwater inspection robots. The existence of disturbance factors such as water flow increases the difficulty of precise modeling of the robot. At the same time, the highly nonlinear and cross-coupled system dynamics and the unpredictable and complex underwater environment ...

AI Technical Summary

Problems solved by technology

However, the traditional trajectory tracking control algorithm can no longer meet the needs of today's underwater robot application expansion, such as inversion control, sliding mode control and neural network control, etc., there are still problems such as speed jump, model parameter uncertainty and high complexity of control law , and does not consider the lag between the real trajectory and the desired trajectory and the energy consumption of trajectory tracking

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