Underwater robot landing position selection optimization method

Abstract

The invention relates to an underwater robot landing position optimization method, which comprises the following steps that an underwater robot moves according to a spiral line unfolding track after reaching a preset landing position. In the trajectory tracking motion process, the height value from the underwater robot to the water bottom is sampled in real time, the gradient and smoothness of the bottom are calculated according to the height value, then a flatness threshold value is set according to the limitation of the underwater robot and the environmental limitation, a flatness evaluation function is constructed, and finally the optimal bottom position is obtained through real-time calculation. If the preset landing position cannot meet the flatness threshold value, the underwater robot autonomously sails to the next preset landing position to find the optimal landing position until the optimal landing position is found. Finally, optimal selection of the landing position of the underwater robot is achieved, and technical guarantee is provided for landing safety and reliability of the underwater robot.

Description

technical field [0001] The invention belongs to the technical field of underwater robot control optimization, and more specifically relates to a bottom position selection optimization method of an underwater robot. Background technique [0002] With the continuous increase of underwater robot applications and the continuous improvement of endurance requirements, underwater robots have a lot of bottom-dwelling operations or bottom-dormant dormancy to improve endurance and other requirements. Due to the complex and changeable seabed topography, it is difficult to choose a suitable flat position with few protrusions. Therefore, the optimization research on the bottom position of underwater robots has practical significance and application value. [0003] In the past, after the underwater robot reached the preset bottom position, the slope or protrusion of the bottom position was generally not considered in depth, which would easily cause the underwater robot to be caught betwee...

AI Technical Summary

Problems solved by technology

[0003]In the past, after the underwater robot reached the preset bottom position, the slope or protrusion of the bottom position was generally not considered deeply, which may easily cause the underwater robot to be caught in the bottom position. Larger attitude angles, such as roll angle, pitch angle, etc., may be caused by multiple pieces of sand and rocks, which will bring certain dangers or uncertain factors to the bottom operation, detection or long-term residence of the underwater robot. Severe cases may cause the underwater robot to be stuck by foreign objects or affect normal detection operations

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