A robot fish group formation control system and control method based on zigbee networking

Abstract

A robotic fish swarm formation control system based on Zigbee networking, including a PC terminal, a first communication module, and an underwater bionic robotic fish swarm; the underwater bionic robotic fish swarm includes several underwater bionic robotic fish, and the underwater bionic robotic fish includes The robot fish body, the second communication module, the single-chip microcomputer and the three-way driving steering gear; the single-chip microcomputer is connected with the second communication module through the serial port, and the single-chip computer is connected with the three-way driving steering gear; the PC end is connected with the first communication module through the serial port, and the first The communication module and the second communication module are connected through a Zigbee network. This system integrates STM32 single-chip controller and CC2530 chip equipped with Zigbee network, and connects laser obstacle avoidance sensor and handle receiver on STM32, and realizes various remote cluster control methods of robotic fish by pre-programming the onboard program . In order to flexibly respond to the actual environment, the design and invention are based on Zigbee network broadcast and multicast mode switching for underwater robot fish cluster formation control.

Description

technical field [0001] The invention belongs to the field of underwater robot control systems, and in particular relates to a control system and a control method for robot fish group formation based on Zigbee networking. Background technique [0002] With the development and maturity of underwater unmanned submersible vehicle technology, a single underwater unmanned submersible vehicle can no longer meet the development of demand, which makes it become an underwater task for multiple underwater unmanned submersible vehicles to cooperate with each other in the form of clusters. It is an inevitable trend in the development of unmanned underwater vehicles. At present, underwater detection is performed by a single UUV underwater unmanned submersible vehicle, but the detection efficiency of a single UUV is low, the detection range is narrow, and the detection accuracy is low. Contents of the invention [0003] The purpose of the present invention is to provide a Zigbee-based n...

AI Technical Summary

Problems solved by technology

At present, underwater detection is performed by a single UUV underwater unmanned submersible vehicle, but the detection efficiency of a single UUV is low, the detection range is narrow, and the detection accuracy is low.

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