CN107239075A - The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking - Google Patents
The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking Download PDFInfo
- Publication number
- CN107239075A CN107239075A CN201710256970.1A CN201710256970A CN107239075A CN 107239075 A CN107239075 A CN 107239075A CN 201710256970 A CN201710256970 A CN 201710256970A CN 107239075 A CN107239075 A CN 107239075A
- Authority
- CN
- China
- Prior art keywords
- control
- faces
- guidance
- underwater vehicle
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 12
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000011835 investigation Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 6
- 238000012360 testing method Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003746 feather Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000009329 sexual behaviour Effects 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is to provide a kind of intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking.One：Judge whether to update tracking target according to ROV current location information；Two：Obtain the information for two critical path points for determining current goal straight course；Three：According to ROV self-position and target pattern information, the lateral deviation of position is calculated；Four：Historical variations according to deviation calculate deviation variation rate；Five：The lateral deviation obtained according to step 3 to four and its control parameter of rate of change adjustment S faces control algolithm；Six：Using step 3 to four lateral deviations obtained and its rate of change as input, the control parameter obtained using step 5 is calculated with reference to bow to angle through nonlinear S faces control rate, obtains control output.The present invention has stronger anti-ocean current interference ability, and accuracy and reliability are high, it is adaptable to which drive lacking and full driving Autonomous Underwater Vehicle perform long voyage and investigation job task.
Description
Technical field
The present invention relates to a kind of control method of Autonomous Underwater Vehicle, specifically a kind of autonomous water of drive lacking
The intelligent S faces Guidance and control method that lower ROV is tracked to plane and straight line course line.
Background technology
Horizontal plane straight course tracing control has very strong application background, is that Autonomous Underwater Vehicle completes survey type times
Business and the important control device of long voyage.According to document《Fine-scale seafloor survey in rugged
deep-ocean terrain with an autonomous robot》(IEEE International Conference on
Robotics and Automation, 2000) and website http://waittinstitute.org/wi-archive/cat-
Described in 1-reefs/, the Woods Hole research institute in the U.S. has carried out the operation of range searching formula using different carriers, realizes
The work such as Underwater Target Detection, submarine topography data collection to different sea areas.In above-mentioned application, range searching formula operation
The Path form that middle submarine navigation device is advanced is pectination path.
Sex knowledge is manipulated according to submarine navigation device, on the vertical symmetrical submarine navigation device of midship section in the case where being acted on without steering force
Motion there is straight line stability, directionless stability and track stability.Therefore need to hold comprising propeller and control surface etc.
The control system intervention of row mechanism, just can guarantee that the straight course tracking of submarine navigation device to carry out reliably underwater navigation
Operation.《Intelligent PID guidance control for AUV path tracking》(J.Cent.South
Univ.2015, volume 22) a kind of intelligent PID Guidance and control method is described, control submarine navigation device carries out horizontal plane straight line
Course line tracing control, the range searching for completing pectination Path form is substituted by target pattern.Control method have passed through sufficiently
Verification experimental verification, and it is successfully applied to marine target designation with reference to detection device.Output with conventional virtual target point form is not
With (《Autonomous Underwater Vehicle 3 d-line path tracking control method with PID/feedback gain》, Chinese invention patent,
2012), this Guidance and control method is used is used as control to export with reference to bow to angle, it is to avoid " unreachable " of virtual target point,
There are problems that steady-state deviation under action of ocean current, and the state controller for being easier to be performed layer to angle with reference to bow understands.
The content of the invention
Ocean current interference can be effective against it is an object of the invention to provide one kind, stablizes, accurately track, it is adaptable to owe
Drive Autonomous Underwater Vehicle to carry out long voyage and investigate the Autonomous Underwater Vehicle plane and straight line course line tracking of generic task
Intelligent S faces Guidance and control method.
The object of the present invention is achieved like this：
Step one：Judge whether to update tracking target according to ROV current location information；
Step 2：Obtain the information for two critical path points for determining current goal straight course；
Step 3：According to ROV self-position and target pattern information, the lateral deviation of position is calculated；
Step 4：Historical variations according to deviation calculate deviation variation rate；
Step 5：The lateral deviation and its control of rate of change adjustment S faces control algolithm obtained according to step 3 to four
Parameter processed；
Step 6：Using step 3 to four lateral deviations obtained and its rate of change as input, the control obtained using step 5
Parameter processed, is calculated with reference to bow to angle through nonlinear S faces control rate, obtains control output.
Technical key point is mainly reflected in：
1st, the tracking target of submarine navigation device, specially current time ROV only one of which target, and the mesh tracked
Mark is the plane and straight line of two key points determination of plane, is described as key point T0(ξ0,η0) and T1(ξ1,η1), and straight line
2nd, two key point T of current goal straight line are determined0And T1, specially T0And T1For the pass in composition ROV path
Key point sequence p '={ p '0,p′1,p′2,…,p′QIn it is two neighboring.
3rd, the target dynamic characteristic that submarine navigation device is tracked, is specially according to ROV Ps(ξs,ηs) and T0(ξ0,η0) and
T1(ξ1,η1) relative position relation update key point, so as to realize the replacement of target pattern, define criterion
If κ≤0, key point is updated.
4th, lateral deviation P between carrier and target line section is calculatede, comprise the steps of：
Step one：Lateral separation, i.e. absolute value of the bias are calculated, formula is as follows：
Step 2：Calculate positive and negative, regulation ROV is located at direction line segment T0T1Left side when Pe＞ 0：
sgn(Pe)=sgn [(ξ1-ξ0)·(η1-ηs)-(η1-η0)·(η1-ηs)]
Step 3：Calculate lateral deviation；
Pe=sgn (Pe)·|Pe|。
5th, lateral deviation rate of change is calculatedIt is specific as follows：
Formula is the discrete form of deviation variation rate, is calculated using the method for increment average in moving window, MDFor Moving Window
The width M of mouthD∈ Z, in units of controlling beat, iTTIt is all control beat with n, the difference is that iTTReset in target update.
6th, the algorithm of Guidance and control device is the S faces control method that parameter intelligent is adjusted, and algorithm is with deviation and deviation variation rate
For control input, to be exported with reference to bow to angle as control, it is expressed as follows：
ke、kv、kiFor control parameter, MIFor integration window width, ψ ' is normalized reference bow to angle.
7th, the parameter of Guidance and control device uses the adjustment mode of adjustment strategy, specially fuzzy self-adaption：
The present invention provides a kind of Guidance and control of the zero deflection tracking of plane direct route tracking for Autonomous Underwater Vehicle
Device, to eliminate the lateral deviation between ROV and course line.Ocean current interference can be effective against, stably, is accurately tracked,
Long voyage and investigation generic task are carried out suitable for drive lacking Autonomous Underwater Vehicle.
Guidance and control device disclosed in this invention needs same state controller (bow to angle controller) combination to form layering control
System processed, can just carry out direct route tracking.Intelligent S faces Guidance and control method described in the technical scheme is to carry on this basis
Go out, it is contemplated that S function has a loose good characteristic in Jie's property, continuity, symmetry, middle intensive both sides, and navigates under water
The good result of row device state control, be as the Guidance and control device of planning layer in the stratification sexual behaviour model of intelligent body three
Equally possible and practical.
The present invention has advantages below and beneficial effect：
1. with modularization feature.Independent of the mathematical modeling and carrier other structures factor of carrier, discrete point shape is inputted
The panel path that formula is represented, output is control surface rotation amplitude using angle as linear module.This good characteristic convenient-loading
Transplanting and engineering application between body.
2. the robustness of control system is good.Kinetic model due to control algolithm independent of submarine navigation device, and have
Adaptive adjustment characteristic, through multiple isomery submarine navigation device platforms, is realized in the varying environments such as pond, lake, sea trial
Navigation operation, has reached fabulous control effect.
3. anti-ocean current interference ability is strong, stability is good, and precision is high.Under designed straightway tracking control unit effect,
Submarine navigation device can experience the influence that ocean current is brought to lateral deviation, can be continuous in the presence of Guidance and control algorithm
Ground adjustment is exported with reference to bow to angle, realizes that ROV turns bow through state controller adjustment control surface angle, so as to eliminate laterally partially
Difference.By taking certain 180kg grades of submarine navigation device as an example, at sea direct route tracing deviation≤2.0m (95%) under the interference of strong ocean current,
And without steady-state deviation.
Brief description of the drawings
Fig. 1 is 180kg grades of drive lacking Autonomous Underwater Vehicle outline drawing actuator arrangements；
Fig. 2 is the plane and straight line section tracking control unit structure chart of layering；
Fig. 3 is the schematic diagram that drive lacking submarine navigation device carries out straight course tracking；
Fig. 4 tries the direct route thread path and flight path comparison diagram of test data for sea；
Fig. 5 tries the horizontal plane direct route tracing deviation of test data for sea；
Fig. 6 tries the horizontal plane direct route track part deviation of experimental data for sea；
Fig. 7 tries the mathematical statistics of the horizontal plane direct route tracing deviation of test data for sea；
Fig. 8 is the adjustment table 1 to bias term parameter of the fuzzy adjustment of S faces control parameter；
Fig. 9 is the adjustment table 2 to deviation differential term parameter of the fuzzy adjustment of S faces control parameter；
Figure 10 is the adjustment table 3 that item parameter is adjusted to interference of the fuzzy adjustment of S faces control parameter；
Figure 11 is the flow chart of the present invention.
Embodiment
Technical scheme mainly comprises the following steps：
Step one：Judge whether more fresh target, according to ROV Ps(ξs,ηs) and T0(ξ0,η0) and T1(ξ1,η1) relative position close
System updates key point, so as to realize the replacement of target pattern, defines criterion
If κ≤0, key point is updated.
Step 2：Two critical path points in target line course line are obtained, according to step one, the rope of current key point are obtained
Draw value index, read path file obtains 2 adjacent path points, and be assigned to decision current goal direct route only
One key point is to T0(ξ0,η0) and T1(ξ1,η1)。
Step 3：Calculate lateral deviation, it is known that ROV position Ps(ξs,ηs) and key point T0(ξ0,η0) and T1(ξ1,η1),
Lateral deviation is calculated according to geometrical relationship
Step 4：Deviation variation rate is calculated, is calculated using the method for increment average in moving window
MDFor the width of moving window.
Step 5：The adjustment of S faces control parameter, the parameter of Guidance and control device uses adjustment strategy, is specially
The adjustment mode of fuzzy self-adaption, input is Step 3: four obtained lateral deviation PeAnd rate of change
Step 6：The calculating of Guidance and control, using the step 3-4 lateral deviations obtained and its rate of change as input, using step
Rapid 5 control parameters obtained, reference bow is calculated to angle through nonlinear S faces control rate：
The invention will be further described for citing below in conjunction with the accompanying drawings：
The implementing platform of the present embodiment is a microminiature Autonomous Underwater Vehicle such as Fig. 1.The executing agency of control system
Using the arrangement of drive lacking, a set of propeller 1 is arranged in the stern of center line, by DC brushless motor and propeller group
Into；Stern arranges " ten " font control surface, produces power by stepper motor, port and starboard is arranged symmetrically elevator 3, symmetrical above and below
Arrangement turns bow rudder 2.The motion sensor that platform is carried includes GPS, magnetic compass, accelerometer, DVL, water pressure sensor, water
Face motion state relies on GPS, magnetic compass, DVL and perceived, sub-aqua sport State-dependence magnetic compass, accelerometer, DVL, water pressure
Sensor senses and carry out reckoning navigation.
The intelligent S faces guidance control of the present invention tracked suitable for drive lacking Autonomous Underwater Vehicle plane and straight line course line
Method processed, as shown in Fig. 2 the upper strata in whole direct route tracking control system, state control with lower floor is common realize with
The function of track control.Guidance and control device realizes transformation such as Fig. 3 from position deviation to bow to angular displacement, and state controller is realized
The bow of drive lacking submarine navigation device is to angle control.It is made up of with reference to bow to angle two parts：ψref=ψo+ψc, wherein ψoNavigated for target
The direction of line, ψcThe local angle of yaw determined for lateral deviation between ROV and target pattern：
ψc=f2(pe)
f2Include Guidance and control device core algorithm of the present invention.
If current goal straightway is by point T0(ξ0,η0) and T1(ξ1,η1) determined by direction line segment (T0≠T1), navigation
The position P of devices(ξs,ηs), course is ψs, target line section is carried out according to ROV and the relative position relation of target line section
Replacement, specific criterion is：
Calculate vectorWith vectorAngle, if mould exceedesThen think carry out the replacement of target.
Here T0(ξ0,η0) and T1(ξ1,η1) it is always the crucial point sequence p '={ p ' for constituting path0,p′1,p′2,…,
p′QIn adjacent two points.P ' is stored in myPathPT.dat files in the following format：
“index(LONG)latitude(double)longitude(double)depth(double)height
(double) isPassed(BOOL)”。
The expression formula of the straight line determined is：
According to ROV current location and linear equation, lateral deviation is calculated.
The distance of ROV distance objective straightway is calculated according to below equation：
Its is positive and negative using vectorialWithThe symbol decision of cross product, regulation ROV is located at direction line segment T0T1Left side
When Pe＞ 0：
sgn(Pe)=sgn [(ξ1-ξ0)·(η1-ηs)-(η1-η0)·(η1-ηs)]
Lateral deviation is Pe=sgn (Pe)·|Pe|；
Calculate deviation variation rate.Calculated using the method for increment average in moving window：
Above formula is the discrete form of deviation variation rate, is calculated using the method for increment average in moving window, MDFor movement
The width M of windowD∈ Z, in units of controlling beat, iTTIt is all control beat with n, the difference is that iTTUpdated in target pattern
When reset.Here the calculation of deviation variation rate has certain flexibility, it would however also be possible to employ the mode meter of linear weight value
Calculate：
The adaptive adjustment of S faces control parameter.By the way of fuzzy control, according to position deviation PeAnd rate of changeAdjust S faces control parameter：
Fuzzy reasoning table is as shown in accompanying drawing 8-10 table 1-3.Here selection input, output fuzzy language collection T (I, O)： T
(I, O)=zero (0), small (1), in (2), big (3), pole (4)
Membership function is：
Z:u0(d)=0 (d=0)
D is the input of sign format；Ambiguity solution calculates weighted value using centre of area method (CoA).If：μiIt is distance input
D is expressed as to the angle value that is subordinate to of each fuzzy subset, then CoA methods：
Design Guidance and control rate.On the basis of research drive lacking Autonomous Underwater Vehicle direct route tracking mechanism, foundation
Lyapunov stability theory designs progressive control rate.Lateral deviation PeFor the state variable of rider, foundation Lyapunov
Stability theorem designs control rate, takes Lyapunov functionsUnique poised state of system is point of origin Pe=0.Mark
Flow function V ＞ 0, are positive definite, and Pe→ ∞ has V → ∞；Due to PeFor the true measurement of relative space position, its value is continuous
Change and be the speed close to target line section to the derivative of time, thus function V has continuous derivative, is expressed as：It is construed to：As deviation PeDuring ＞ 0, control ROV is allowed to produceThat is PeThe state of reduction (is leaned on by positive direction
Close-target course line)；As deviation PeDuring ＜ 0, control ROV is allowed to produceThat is PeThe state of increase is (close by negative direction
Target pattern).According to shown in Fig. 4, drive lacking ROV be by adjust bow to and reach adjustment itself between target pattern
Distance, thus control rate is as follows：
ke, kv, kiThe respectively control parameter of S surface functions, their renewal using it is above-mentioned adaptively adjust by the way of meter
Calculate.
Sea trial is verified and analysis：
By the Autonomous Underwater Vehicle of Guidance and control algorithm integration of the present invention to certain 180kg feather weight, at sea
The tracking test of straight course is carried out, the cruising speed of ROV is 1.3m/s, and the vertical coordinate in path is depth 1.5m.
Fig. 5 is the tracking error during whole navigation, and when carrying out reference point change, tracking error is larger unanimously reaches
30.4m, this is caused by not considering AUV locomitivities and ocean current interference because of the rough expression in path；In the tracking to long side
During, tracking error can from course line alternate caused by higher value (15~30m) gradually converge to smaller range (2.0m) and
Remain to return to stability region after larger ocean current interference；
Fig. 6 is the amplification of dotted line frame inner curve part in Fig. 5, and dotted line represents ε=2.0m reference line；
Fig. 7 is the statistics of this section of error, it can be deduced that conclusion：AUV under larger ocean current interference, for straight course with
During track, tracking error≤2.37m probability is 95%.
The present invention is applied to drive lacking and full driving Autonomous Underwater Vehicle performs long voyage and investigation job task, tool
There is stronger anti-ocean current interference ability, without model dependence, enable to submarine navigation device to be realized in horizontal plane to straight line
The non-error tracking in course line, so that meet such as range searching, underwater mating requires higher application need to horizontal plane tracking accuracy
Ask.
Extra large test result shows that understanding and tracking and controlling method of the present invention to three-dimensional path have Globally asymptotic special
Property, and ensure that agonic tracking, it is adaptable to drive lacking Autonomous Underwater Vehicle performs long-range boat under complicated sea situation
Row and survey type task.
Claims (7)
1. a kind of intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking, it is characterized in that：
Step one：Judge whether to update tracking target according to ROV current location information；
Step 2：Obtain the information for two critical path points for determining current goal straight course；
Step 3：According to ROV self-position and target pattern information, the lateral deviation of position is calculated；
Step 4：Historical variations according to deviation calculate deviation variation rate；
Step 5：The lateral deviation obtained according to step 3 to four and its control ginseng of rate of change adjustment S faces control algolithm
Number；
Step 6：Using step 3 to four lateral deviations obtained and its rate of change as input, the control obtained using step 5 is joined
Number, is calculated with reference to bow to angle through nonlinear S faces control rate, obtains control output.
2. the intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking according to claim 1, it is special
Levying is：It is described to judge whether that it is according to ROV P to update tracking targets(ξs,ηs) and T0(ξ0,η0) and T1(ξ1,η1) relative position close
System updates key point, so as to realize the replacement of target pattern, criterion is
If κ≤0, key point is updated.
3. the intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking according to claim 1,
It is characterized in that：The information for obtaining two critical path points for determining current goal straight course is to obtain current key point
Index value index, read path file obtains 2 adjacent path points, and be assigned to decision current goal direct route only
One key point is to T0(ξ0,η0) and T1(ξ1,η1)。
4. the intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking according to claim 1,
It is characterized in that：The lateral deviation of the calculating position is specifically included, it is known that ROV position Ps(ξs,ηs) and key point T0(ξ0,
η0) and T1(ξ1,η1), calculate lateral deviation according to geometrical relationship
5. the intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking according to claim 1, its
It is characterized in：Calculating deviation variation rate is calculated using the method for increment average in moving window
MDFor the width of moving window.
6. the intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking according to claim 1,
It is characterized in that：The control parameter of the adjustment S faces control algolithm, the parameter of Guidance and control device uses adjustment strategy,
Specially the adjustment mode of fuzzy self-adaption, is inputted as lateral deviation PeAnd rate of change
7. the intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking according to claim 1,
It is characterized in that being to angle with reference to bow through the calculating of nonlinear S faces control rate：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256970.1A CN107239075A (en) | 2017-04-19 | 2017-04-19 | The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256970.1A CN107239075A (en) | 2017-04-19 | 2017-04-19 | The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107239075A true CN107239075A (en) | 2017-10-10 |
Family
ID=59983025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710256970.1A Pending CN107239075A (en) | 2017-04-19 | 2017-04-19 | The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107239075A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831781A (en) * | 2017-10-26 | 2018-03-23 | 成都信息工程大学 | The control method and system of a kind of robot fish movement |
| CN109901403A (en) * | 2019-04-08 | 2019-06-18 | 哈尔滨工程大学 | A kind of face autonomous underwater robot neural network S control method |
| CN111338206A (en) * | 2020-04-23 | 2020-06-26 | 深圳市吉影科技有限公司 | Automatic balancing method and system for underwater vehicle |
| CN111387892A (en) * | 2020-03-12 | 2020-07-10 | 深圳市银星智能科技股份有限公司 | Robot traveling method, non-volatile computer-readable storage medium, and robot |
| CN111798701A (en) * | 2020-07-07 | 2020-10-20 | 中国船舶工业系统工程研究院 | Unmanned ship path tracking control method, system, storage medium and terminal |
| CN112034865A (en) * | 2020-08-12 | 2020-12-04 | 浙江大学 | Full-drive underwater vehicle track tracking control method based on optimization algorithm |
| CN112578814A (en) * | 2020-12-15 | 2021-03-30 | 西北工业大学 | Linear track tracking control method for formation of multiple autonomous underwater vehicles |
| CN112666972A (en) * | 2020-12-15 | 2021-04-16 | 西北工业大学 | Autonomous underwater vehicle obstacle avoidance method based on distance and angle weighting |
| CN113050420A (en) * | 2021-03-04 | 2021-06-29 | 山东大学 | AUV path tracking method and system based on S-plane control and TD3 |
| CN115755938A (en) * | 2022-10-30 | 2023-03-07 | 西北工业大学宁波研究院 | Depth control method of simulated bat ray aircraft based on asymmetric fuzzy S surface |
| CN117762152A (en) * | 2024-02-22 | 2024-03-26 | 陕西欧卡电子智能科技有限公司 | unmanned ship vector warehouse-in control method and system, unmanned ship and readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1718378A (en) * | 2005-06-24 | 2006-01-11 | 哈尔滨工程大学 | S face control method of flotation under water robot motion |
| CN101386340A (en) * | 2008-10-29 | 2009-03-18 | 哈尔滨工程大学 | Underwater robot for ship hull detection |
| US7688072B1 (en) * | 2007-09-18 | 2010-03-30 | The United States Of America As Represented By The Secretary Of The Navy | Portable magnetic sensing system for real-time, point-by-point detection, localization and classification of magnetic objects |
-
2017
- 2017-04-19 CN CN201710256970.1A patent/CN107239075A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1718378A (en) * | 2005-06-24 | 2006-01-11 | 哈尔滨工程大学 | S face control method of flotation under water robot motion |
| US7688072B1 (en) * | 2007-09-18 | 2010-03-30 | The United States Of America As Represented By The Secretary Of The Navy | Portable magnetic sensing system for real-time, point-by-point detection, localization and classification of magnetic objects |
| CN101386340A (en) * | 2008-10-29 | 2009-03-18 | 哈尔滨工程大学 | Underwater robot for ship hull detection |
Non-Patent Citations (8)
| Title |
|---|
| CHONG LU,等: "Improved S Surface Controller and Semi-physical Simulation for AUV", 《J. MARINE SCI. APPL.》 * |
| LI YE，等: "Intelligent PID guidance control for AUV path tracking", 《中南大学学报（英文版）》 * |
| LI YE，等: "Inverse speed analysis and low speed control of underwater vehicle", 《中南大学学报（英文版）》 * |
| 刘学敏，徐玉如: "水下机器人运动的S面控制方法", 《海洋工程》 * |
| 刘建成，等: "水下机器人改进的S面控制方法", 《哈尔滨工程大学学报》 * |
| 吕翀,等: "水下机器人改进S面控制及系统半实物仿真", 《上海交通大学学报》 * |
| 姜言清, 李 晔, 陈鹏云: "基于电子海图的AUV监控技术研究", 《黑龙江省造船工程学会2011年学术会》 * |
| 王建国: "水下机器人容错控制研究", 《第十四届中国海洋(岸)工程学术讨论会论文集》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831781A (en) * | 2017-10-26 | 2018-03-23 | 成都信息工程大学 | The control method and system of a kind of robot fish movement |
| CN109901403A (en) * | 2019-04-08 | 2019-06-18 | 哈尔滨工程大学 | A kind of face autonomous underwater robot neural network S control method |
| CN111387892A (en) * | 2020-03-12 | 2020-07-10 | 深圳市银星智能科技股份有限公司 | Robot traveling method, non-volatile computer-readable storage medium, and robot |
| CN111338206A (en) * | 2020-04-23 | 2020-06-26 | 深圳市吉影科技有限公司 | Automatic balancing method and system for underwater vehicle |
| CN111798701A (en) * | 2020-07-07 | 2020-10-20 | 中国船舶工业系统工程研究院 | Unmanned ship path tracking control method, system, storage medium and terminal |
| CN112034865B (en) * | 2020-08-12 | 2021-10-08 | 浙江大学 | Full-drive underwater vehicle track tracking control method based on optimization algorithm |
| CN112034865A (en) * | 2020-08-12 | 2020-12-04 | 浙江大学 | Full-drive underwater vehicle track tracking control method based on optimization algorithm |
| CN112666972B (en) * | 2020-12-15 | 2022-07-05 | 西北工业大学 | Autonomous underwater vehicle obstacle avoidance method based on distance and angle weighting |
| CN112666972A (en) * | 2020-12-15 | 2021-04-16 | 西北工业大学 | Autonomous underwater vehicle obstacle avoidance method based on distance and angle weighting |
| CN112578814B (en) * | 2020-12-15 | 2022-07-05 | 西北工业大学 | Linear track tracking control method for formation of multiple autonomous underwater vehicles |
| CN112578814A (en) * | 2020-12-15 | 2021-03-30 | 西北工业大学 | Linear track tracking control method for formation of multiple autonomous underwater vehicles |
| CN113050420A (en) * | 2021-03-04 | 2021-06-29 | 山东大学 | AUV path tracking method and system based on S-plane control and TD3 |
| CN113050420B (en) * | 2021-03-04 | 2022-02-18 | 山东大学 | AUV path tracking method and system based on S-plane control and TD3 |
| CN115755938A (en) * | 2022-10-30 | 2023-03-07 | 西北工业大学宁波研究院 | Depth control method of simulated bat ray aircraft based on asymmetric fuzzy S surface |
| CN115755938B (en) * | 2022-10-30 | 2023-12-05 | 西北工业大学宁波研究院 | Method for controlling depth of simulated ray aircraft based on asymmetric fuzzy S-plane |
| CN117762152A (en) * | 2024-02-22 | 2024-03-26 | 陕西欧卡电子智能科技有限公司 | unmanned ship vector warehouse-in control method and system, unmanned ship and readable storage medium |
| CN117762152B (en) * | 2024-02-22 | 2024-05-10 | 陕西欧卡电子智能科技有限公司 | Unmanned ship vector warehouse-in control method and system, unmanned ship and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107239075A (en) | The intelligent S faces Guidance and control method of Autonomous Underwater Vehicle plane and straight line course line tracking | |
| CN107168312B (en) | Space trajectory tracking control method for compensating UUV kinematic and dynamic interference | |
| CN106950974A (en) | Drive lacking Autonomous Underwater Vehicle is understood three-dimensional path and tracking and controlling method | |
| Liu et al. | The fast marching method based intelligent navigation of an unmanned surface vehicle | |
| CN106444806B (en) | The drive lacking AUV three-dimensional track tracking and controlling method adjusted based on biological speed | |
| Moreira et al. | Path following control system for a tanker ship model | |
| CN111650948B (en) | Quick tracking control method for horizontal plane track of benthonic AUV | |
| CN101833338B (en) | Autonomous underwater vehicle vertical plane under-actuated motion control method | |
| CN109508022B (en) | Double-unmanned-boat collaborative oil spilling trapping method based on layered guidance and drag force compensation | |
| CN107991872B (en) | Virtual anchoring horizontal area stabilization control method of under-actuated AUV (autonomous underwater vehicle) and implementation method | |
| JP2007317165A (en) | Method, apparatus, and program for planning operation of autonomous mobile robot, method for controlling autonomous mobile robot using method, recording medium thereof, and program for controlling autonomous mobile robot | |
| CN112068440B (en) | AUV recovery butt joint power positioning control method based on model prediction control | |
| CN105974930A (en) | Method for tracking movement mother ship by UUV (Unmanned Underwater Vehicle) based on nonlinear model predictive control | |
| CN109946976B (en) | Wide-navigational-speed AUV motion control method | |
| CN112650246B (en) | Ship autonomous navigation method and device | |
| CN111412918B (en) | Unmanned ship global safety path planning method | |
| CN113126492B (en) | Automatic path tracking method for dynamic positioning ship | |
| CN113093804B (en) | Unmanned ship formation control method and control system based on inversion sliding mode control | |
| CN113485389A (en) | Underwater robot three-dimensional trajectory tracking control method based on self-adaptive prediction | |
| CN110376891B (en) | Longitudinal-plane trajectory tracking unmanned underwater vehicle control method based on backstepping sliding mode of fuzzy switching gain | |
| CN114942643B (en) | Construction method and application of USV unmanned ship path planning model | |
| CN116257067A (en) | Collaborative formation multi-level planning control method for unmanned ship cluster | |
| Xie et al. | Random Patrol Path Planning for Unmanned Surface Vehicles in Shallow Waters | |
| de Cerqueira Gava et al. | AUV cruising auto pilot for a long straight confined underwater tunnel | |
| CN116430856A (en) | Ship track control method based on variable forward looking distance LOS algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |