Underwater robot three-dimensional formation and obstacle avoidance method

Abstract

The invention relates to an underwater robot three-dimensional formation and obstacle avoidance method, which comprises the steps: defining a geometric formation by adopting a virtual structure method, and constructing a three-dimensional formation system mathematical model of an underwater robot according to a formation center reference track; calculating a reference state vector of each underwater robot based on a Lyapunov stability principle in a barrier-free free environment; calculating the influence of a single obstacle on the movement of the underwater robots so as to correct the reference movement speed of each underwater robot; according to a null-space strategy, with the influence of all obstacles on the movement of the underwater robots being considered, obtaining reference state vectors of all underwater robots in a multi-obstacle environment; and for each underwater robot, adopting a nonlinear model prediction controller to solve the formation control problem according tothe respective reference state vector to obtain optimal control input. The influence of all obstacles on the motion of the underwater robots is predicted and considered based on a corrected null-spacemodel, stable formation navigation and safe obstacle avoidance of the robots are ensured, and the method is suitable for complex environments.

Description

technical field [0001] The invention belongs to the technical field of navigation, guidance and control of underwater robots, and in particular relates to a three-dimensional formation and obstacle avoidance method for underwater robots based on a modified zero-space model predictive control. Background technique [0002] In recent years, with the gradual application of underwater robots in the fields of marine environment monitoring, submarine resource detection, search and rescue, domestic and foreign scholars have conducted a lot of research on how to improve the autonomous navigation and environmental adaptability of underwater robots. Among them, the formation control technology is the basic and key technology for underwater robots to cooperate to perform specific tasks. It requires controlling the composition of multiple robots and maintaining a certain geometric formation. Scholars at home and abroad have proposed a series of control structures for formation problems,...

AI Technical Summary

Problems solved by technology

Scholars at home and abroad have proposed a series of control structures for formation problems, mainly including the leader-wingman method, behavior-based methods, and virtual structure methods, which are applicable to different environments and have their own advantages and disadvantages: the principle of the leader-wingman method is simple, However, there are problems such as formation error accumulation and poor robustness; the behavior-based method has strong ability to adapt to the environment, but there are defects such as difficulty in system design; the formation accuracy of the virtual structure method is high, but the flexibility is poor

However, existing methods are often only suitable for avoiding simple obstacles, and cannot be applied to formation and obstacle avoidance tasks in 3D complex environments.

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