A power distribution method for smooth straight sailing of an underwater chain robot

By establishing a dynamic model and using a genetic algorithm to optimize power distribution, combined with a penalty function to handle constraints, the problem of stable straight navigation of an underwater chain robot under drive saturation and ocean current interference was solved, achieving fast and reliable power distribution.

CN119148523BActive Publication Date: 2026-06-02LIAONING UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
LIAONING UNIVERSITY
Filing Date
2024-09-04
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

In existing technologies, underwater chain robots struggle to achieve stable straight-line navigation when faced with drive saturation constraints and uncertain ocean current disturbances. In particular, underwater chain robots composed of three or more units lack effective power distribution methods.

Method used

A dynamic model of an underwater chain robot is established, and a genetic algorithm is used to optimize the power distribution. A penalty function is combined to handle the driving force constraints. Through selection, crossover and mutation operations, the power distribution results are optimized to achieve stable straight navigation.

Benefits of technology

This technology enables underwater chain robots to navigate smoothly in straight directions under driving force constraints and ocean current interference, improving the reliability and stability of the system and allowing it to quickly approach the target state.

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Abstract

The application discloses a power distribution method for smooth straight sailing of an underwater chain robot, which mainly comprises two steps. First, the driving distribution characteristics of the underwater chain robot, the initial state and the target state are given, and the driving force size to be adopted by each unit in the next execution period is optimized based on a genetic algorithm. Second, a penalty function is established by considering the input saturation condition of the unit driving force, and the penalty function is added to the objective function of the genetic algorithm power optimization, so that the driving force size actually adopted by each unit in the next execution period is determined, and the interval between each unit is restored to an ideal state as soon as possible under the consideration of the constraint. The genetic algorithm and the penalty function are effectively combined to realize the fast and smooth straight sailing of the underwater chain robot under any disturbance or initial state. The application has the characteristics of clear and clear principle, effective method verification and the like, and can be widely applied to the power distribution task of the smooth straight sailing of the power distributed multi-body underwater robot, and can cope with the disturbance of different sea current environments.
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