Path planning method for docking of small underwater robot, and control method
A path planning and control method technology, which is applied in vehicle position/route/height control, non-electric variable control, height or depth control, etc., can solve the problems of effective planning of robot's underwater walking path and low docking efficiency, and achieve Improve the success rate of docking and ensure the effect of accuracy
Pending Publication Date: 2021-11-30
HARBIN ENG UNIV
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[0004] In view of the above problems, the present invention proposes a path planning method and control method for docking of small underwater robots to solve the problem of docking efficiency caused by the lack of effective planning of the underwater walking path of the robot in the existing docking method. low problem
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[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, exemplary implementations or embodiments of the present invention will be described below in conjunction with the accompanying drawings. Apparently, the described embodiments or examples are only part of the embodiments or embodiments of the present invention, not all of them. Based on the implementation modes or examples in the present invention, all other implementation modes or examples obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0053] For exploration and sampling tasks in complex underwater environments, such as detection and maintenance in submarine pipelines, monitoring of organisms in coral reefs, and mineral collection in seabed rock cracks, etc. Conventional AUVs and other underwater vehicles have limited power supply batteries. When the task is not completed or...
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The invention discloses a path planning method for docking of a small underwater robot and a control method, relates to the technical field of underwater docking control of robots, and aims to solve the problem of low docking efficiency caused by the fact that an underwater walking path of the robot is not effectively planned in an existing robot docking method. According to the invention, a virtual cylinder is established by taking a robot as a reference, the initial position of the robot and a three-dimensional path end point are both on the surface of the virtual cylinder, a track is generated based on the virtual cylinder surface, and the robot reaches the three-dimensional path end point along the track so as to continuously enter a dock base station along a center line; the three-dimensional path is generated by using the relative position and direction of the robot and the dock base station, and the docking success rate of the robot is improved; the three-dimensional path is further divided into a horizontal path and a vertical path, and the robot is controlled to walk according to the generated three-dimensional path according to the force and the torque calculated in the horizontal direction and the vertical direction; and the method can be applied to path planning and control of the underwater robot before docking.
Description
technical field [0001] The invention relates to the technical field of robot underwater docking control, in particular to a path planning method and control method for docking of a small underwater robot. Background technique [0002] As ocean development activities become more frequent and in-depth, the demand for ocean exploration technology and equipment is also increasing. Underwater vehicles such as conventional AUVs and UUVs often face problems such as underwater charging and recycling due to power supply problems. Therefore, autonomous docking of underwater robots is very important. At present, the recovery of underwater robots consists of two stages. The first stage is that the robot is far away from the docking station, and underwater acoustic positioning is often used. When the robot moves closer to the docking station, it enters the second stage, and vision and other methods are often used. Docking operation. In the second stage, current researchers usually pos...
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Login to View More IPC IPC(8): G05D1/06
CPCG05D1/0692Y02P90/02
Inventor 邢会明叶秀芬刘畅刘文智李海波王璘
Owner HARBIN ENG UNIV