CN114489091B - Guidance law control method, equipment and system for autonomous underwater robot path tracking - Google Patents
Guidance law control method, equipment and system for autonomous underwater robot path tracking Download PDFInfo
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Abstract
The embodiment of the invention discloses a guidance law control method, equipment and a system for autonomous underwater robot path tracking, wherein the method comprises the following steps: receiving a path point tracking task, and expanding expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; and resolving the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law in combination with the position of the AUV and the position of the expanded three-dimensional path point. In the embodiment of the invention, the tracking environment of the original expected path point can be improved well by analyzing and expanding the attribute of the expected three-dimensional path point, and the path points expanded before and after the original expected path point can well ensure that the AUV passes through the original expected path point according to the expected posture.
Description
Technical Field
The invention relates to the technical field of autonomous underwater robot path tracking, in particular to a guidance law control method, device and system for autonomous underwater robot path tracking.
Background
An Autonomous Underwater Vehicle (AUV) has the advantages of improving the safety of deep sea operation, reducing the labor cost and the like, and is widely applied to the fields of marine resource exploration, environmental monitoring, military industry and the like. The path tracking control function is one of important functions of autonomous AUV control, and means that after the AUV receives an expected tracking path sent by an upper computer, the AUV is ensured to move along an expected path point by a proper control method. The path tracking control performance will directly affect the stability and safety of the AUV performing the tasks of surveying, exploring, etc. in a complex marine environment.
When the AUV performs path tracking control, it is first necessary to design an appropriate guidance law. The guidance law of the AUV is a method for obtaining expected values, such as an expected yaw angle and an expected pitch angle, required by the AUV to reach an expected tracking path according to self pose information and path point information of the AUV, so as to guide the AUV to complete a path tracking task.
The patent CN 113467231A considers that the sideslip of the unmanned ship is combined with the traditional Line of sight guidance Law (LOS) to design a guidance law, and simultaneously a state observer is designed to observe external interference so as to enhance the interference resistance and improve the path tracking performance and the safety of the unmanned ship.
The patent CN 110032197A proposes that a hyperbolic tangent line-of-sight guidance law can improve the stability and flexibility of a guidance system according to a tracking error and a designed limited-time sideslip observer and at the same time, the guidance speed and the course angle. However, both of the above-mentioned two guidance law methods cannot be applied to three-dimensional path tracking control, and cannot solve the problem of singular values occurring in the path tracking process.
The patent CN 113296505A proposes a variable-speed LOS guidance law for unmanned ship path tracking, a path point expansion module is designed to smooth path information, and meanwhile, a longitudinal speed control rate is designed to inhibit an overshoot phenomenon of an unmanned ship at a path tangential angle mutation position.
The patent CN 102768539A guides the autonomous underwater robot to track the three-dimensional environment path by designing a virtual guide on a desired path, and the moving speed of the virtual guide is designed to be used as the input of tracking control, so that the stability and the dynamic performance of a tracking system are ensured.
A path Bridging (BT) guidance law for an unmanned ship on a two-dimensional plane is proposed in the literature, "Successive Waypoints Tracking of an under-actuated Surface Vehicle" (IEEE Transactions on Industrial information, 2020, 16 (2): 898-908.), and the problem of singularity caused by path point discontinuity is solved, so that the under-actuated unmanned ship can accurately track a desired path point at a desired speed. However, the method mainly aims at two-dimensional plane path tracking guidance control, cannot be applied to tracking control of three-dimensional path points, and ignores the influence of ship body drifting motion on path tracking control.
In summary, for the path tracking guidance control of the under-actuated AUV, on one hand, the current guidance method cannot overcome the singular problem occurring in the process of tracking the three-dimensional path point of the under-actuated AUV; on the other hand, the influence of the drift motion of the AUV caused by the external environment disturbance on the control precision and stability is still not considered.
Disclosure of Invention
It is an object of the present invention to provide a method, apparatus and system for guidance law control for autonomous underwater robot path tracking that overcomes or at least mitigates at least one of the above-mentioned disadvantages of the prior art.
In order to achieve the above object, an embodiment of the present invention provides a guidance law control method for autonomous underwater robot path tracking, including:
receiving a path point tracking task, and expanding expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing projections of an AUV (Autonomous underwater robot) along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing a velocity of the AUV along an x axis in a coordinate system O-xyz fixed to the AUV itself, and yaw representing an angle formed by the O-x axis and an E-xi axis in a projection of an E-xi eta plane, defined as a yaw angle;
and step two, calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight guidance law according to the position of the AUV and the position of the expanded three-dimensional path point.
Preferably, the first step comprises:
performing path point expansion on a horizontal plane and path point expansion on a vertical plane on each expected three-dimensional path point to obtain a forward expansion path point, a backward expansion path point and a backward depth expansion path point of each expected three-dimensional path point; wherein the forward direction is the direction opposite to the desired waypoint heading angle and the backward direction is the same direction as the desired waypoint heading angle, the desired three-dimensional waypoint comprising Q k - 1 、Q k 、Q k+1 And k is a natural number.
Preferably, the desired three-dimensional path point Q is obtained by the following equation k The forward propagation path point and the backward propagation path point of (2):
P (3k-2，h) ＝Q (k，h) -D kf Φ k yaw (1)
P (3k-1，h) ＝Q (k，h) +D k b Φ k yaw (2)
wherein, P (3k-2，h) ＝[P 3k-2x， P 3k-2y ] T ，Q (k，h) ＝[Q kx ，Q ky ] T ，Φ k yaw ＝[cos(Q k yaw )，sin(Q k yaw )] T ，P (3k-1，h) ＝[P 3k-1x ，P 3k-1y ] T ，D kf 、D kb Respectively a preset forward expansion distance and a preset backward expansion distance.
Preferably, the method further comprises: setting the D in the following manner kf ：
Wherein the minimum forward extension distance D fmin And a maximum forward extension distance D fmax Are respectively a preset value u k Is the current speed, Q, of the AUV k yaw 、Q k-1 yaw Respectively, desired three-dimensional path points Q k Desired yaw angle and desired three-dimensional path point Q k-1 Desired yaw angle.
Preferably, the three-dimensional path point Q is obtained by the following equation k The backward depth expanding path point of (2):
P 3k ＝Q (kp )+D k bz Φ (k p ) (8)
wherein P is 3k ＝[P 3k x ，P 3k y ，P 3k z ，P 3k u ] T ，Q (k，p) ＝[Q kx ，Q ky ，Q kz ，Q ku ] T ，Φ (kp) ＝[cos(Q k yaw )，sin(Q k yaw )，0，0] T ；
Δz k ＝|Q k+1 z -Q k z | (7)
Wherein D bzmin Extend distance, Δ z, for a preset minimum backward depth k Is Q k+1 And Q k Absolute depth difference between, theta k bz Is P 3k-1 And P 3k Desired pitch angle between, theta min To preset a minimum desired pitch angle, θ max Is a preset maximum desired pitch angle.
Preferably, the second step includes: calculating the expected yaw angle psi of the k-th expansion path point in the horizontal plane by the following formula kda ：
ψ k path ＝atan2(P k y -P k-1 y ，P k x -P k-1x ) (10)
de h k ＝-(x-P k-1 x )sin(ψ k path )+(y-P k-1y )cos(ψ k path ) (11)
Wherein psi kpath An angle de formed by a straight line consisting of the kth-1 expansion path point and the kth expansion path point and a plane E-zeta under an inertial coordinate system E-zeta eta zeta hk Is the distance, Δ, of the AUV from the line in the horizontal plane hk Is the adaptive forward looking distance, Δ hmax Is a preset maximum forward looking distance, delta, of the horizontal plane hmin Is a preset minimum forward looking distance, u, in the horizontal plane k Is the current speed of the AUV.
Preferably, the method further comprises: performing drift angle compensation on the expected yaw angle based on the AUV speed information, wherein the drift compensation angle psi kdb Is obtained by the following formula:
wherein beta is k Is the current drift angle, α, of the AUV k ＝ψ-ψ k da Psi is the current yaw angle of the AUV, psi k da Is the desired yaw angle, psi, calculated kd ＝ψ kda -ψ k db ；
Wherein v is the current transverse speed of the AUV, and u is the current longitudinal speed of the AUV.
Preferably, the second step further comprises:
calculating a desired pitch angle theta of the kth propagation path point on the vertical plane by the equation (26) kd ：
θ k path ＝atan2(P kz -P k-1 z ，P′ k x -P′ k-1 x ) (27)
de vk ＝-(x′-P′ k-1x )sin(θ kpath )+(z-P k-1z )cos(θ kpath ) (28)
Wherein, theta k path Is an angle formed by a straight line consisting of the kth-1 expanding path point and the kth expanding path point and a plane E-xi eta under the inertial coordinate system E-xi eta zeta, de vk Distance, Δ, of the AUV from the desired path v k Is an adaptive forward-looking distance, P' k x X ' are respectively the coordinates P ' obtained by synthesizing the current position of the AUV and the k expected path point by taking the k-1 expected path point as a coordinate origin ' k-1 x ＝0。
An embodiment of the present invention further provides a guidance law control device for executing the method described in any one of the above embodiments or preferred embodiments, including:
the task receiving module is used for receiving the path point tracking task;
the expanding module is used for expanding the expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing projections of an AUV (Autonomous underwater robot) along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing a velocity of the AUV along an x axis in a coordinate system O-xyz fixed to the AUV itself, and yaw representing an angle formed by the O-x axis and an E-xi axis in a projection of an E-xi eta plane, defined as a yaw angle; wherein (x, y, z) and u are known amounts;
and the calculating module is used for calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law in combination with the position of the AUV and the position of the expanded three-dimensional path point.
The embodiment of the present invention further provides a guidance law control system for autonomous underwater robot path tracking, including an AUV and a ground terminal, wherein the AUV includes guidance law control equipment for executing the method described in any one of the above embodiments or preferred embodiments, and the guidance law control equipment includes:
the task receiving module is used for receiving the path point tracking task sent by the ground terminal;
the expanding module is used for expanding the expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing the projection of the AUV along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing the speed of the AUV along the x axis in a coordinate system O-xyz fixed on the AUV itself, and yaw representing the angle formed by the projection of the O-x axis in the E-xi eta plane and the E-xi axis, and defined as a yaw angle; wherein (x, y, z) and u are known quantities;
and the calculating module is used for calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law in combination with the position of the AUV and the position of the expanded three-dimensional path point.
Due to the adoption of the technical scheme, the embodiment of the invention has the following advantages:
by analyzing and expanding the attribute of the expected three-dimensional path point, the tracking environment of the original expected path point can be improved well, and the path points expanded before and after the original expected path point can well ensure that the AUV passes through the original expected path point according to the expected posture. In addition, the principle of 'depth before heading' is adopted in the expansion of the path points of the vertical plane, so that the situation that the tracking precision of the vertical plane is reduced due to a large tracking error of a horizontal plane can be greatly improved, and the control precision of the vertical plane is improved; according to the method, the ALOS algorithm is adopted to solve the horizontal plane yawing angle and the vertical plane yawing angle, and the robustness of the traditional LOS algorithm in different path point tracking scenes can be well improved according to the adaptive foresight distance designed according to the AUV speed and the transverse error during path tracking; the invention compensates the drift angle generated by the AUV on the horizontal plane, and can greatly improve the tracking accuracy of the AUV in the self-drifting environment caused by external environments such as water flow disturbance, wind power disturbance and the like.
Drawings
Fig. 1 is a schematic flow diagram of a guidance law control method for autonomous underwater robot path tracking according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of two reference coordinate systems provided in the embodiment of the present invention.
Fig. 3 is a schematic flow chart of a guidance law control method for autonomous underwater robot path tracking according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a desired waypoint provided by an embodiment of the invention.
FIG. 5 illustrates a schematic view of a desired yaw angle for a horizontal plane provided by an embodiment of the present invention.
FIG. 6 illustrates a schematic diagram of drift angle compensation for a desired yaw angle provided by an embodiment of the present invention.
Fig. 7 is a diagram illustrating a tracking effect of the method provided by the embodiment of the invention for three-dimensional waypoint tracking control.
Fig. 8 shows another tracking effect diagram of the method provided by the embodiment of the invention for three-dimensional waypoint tracking control.
Fig. 9 is a schematic structural diagram of a guidance law control device for autonomous underwater robot path tracking according to an embodiment of the present invention.
Fig. 10 shows a schematic structural diagram of a guidance law control system for autonomous underwater robot path tracking according to an embodiment of the present invention.
Fig. 11 is another schematic structural diagram of a guidance law control system for autonomous underwater robot path tracking according to an embodiment of the present invention.
Detailed Description
In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
In the present invention, the technical features of the embodiments and implementations may be combined with each other without conflict, and the present invention is not limited to the embodiments or implementations in which the technical features are located.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, it should be noted that the technical solutions and design principles of the present invention are described in detail in the following only by way of an optimized technical solution, but the scope of the present invention is not limited thereto.
The following terms are referred to herein, and their meanings are explained below for ease of understanding. It will be understood by those skilled in the art that the following terms may have other names, but any other names should be considered consistent with the terms set forth herein without departing from their meaning.
The embodiment of the invention provides a guidance law control system for autonomous underwater robot path tracking, which comprises a ground control end and an AUV (autonomous underwater vehicle), wherein the ground control end and the AUV comprise communication modules, and independent communication equipment for communication between the ground control end and the AUV can also be arranged. Wherein, the ground control end edits the expected three-dimensional path point Q required by the path point tracking task 1 ，Q 2 ...Q k ，Q k+1 ...Q n And respectively inputting the attribute (x, y, z, u, yaw) of each expected three-dimensional path point, preprocessing the attribute, forwarding the preprocessed path point tracking task information to the AUV, and performing the path point tracking task after the AUV receives the path point tracking task instruction.
The embodiment of the invention provides a guidance law control method for autonomous underwater robot path tracking, which comprises the following steps as shown in figure 1:
To better describe the AUV motion and the guidance law method proposed by the present invention, two reference coordinate systems are defined as shown in fig. 2, where E- ξ η ζ represents the inertial coordinate system fixed to the ground and O-xyz represents the own coordinate system fixed to the AUV. In the three-dimensional path point attribute, (x, y, z) respectively represents the projection of the AUV along zeta, eta and zeta under an E-zeta eta zeta coordinate system, u represents the speed of the AUV along an x axis under the coordinate system O-xyz, and yaw represents the angle formed by the projection of an O-x axis of the AUV self coordinate system O-x axis in the E-zeta eta coordinate system and the E-zeta axis, and is defined as a yawing angle.
The attributes of the desired three-dimensional waypoint include (x, y, z, u, yaw). Wherein, (x, y, z) respectively represents the projection of AUV along xi, eta and zeta under the inertial coordinate system E-xi eta zeta coordinate system fixed on the ground, u represents the speed of AUV along the x axis under the coordinate system O-xyz fixed on the AUV, and yaw represents the angle formed by the projection of the O-x axis and the E-xi axis in the projection of the E-xi eta plane, and is defined as the yawing angle.
And step 20, calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law according to the position of the AUV and the position of the expanded three-dimensional path point.
Wherein, step 10 includes:
performing path point expansion on a horizontal plane and path point expansion on a vertical plane on each expected three-dimensional path point to obtain a forward expansion path point, a backward expansion path point and a backward depth expansion path point of each expected three-dimensional path point; wherein the forward direction is the direction opposite to the desired waypoint heading angle, the backward direction is the same direction as the desired waypoint heading angle, and the desired three-dimensional waypoint comprises Q k-1 、Q k 、Q k+1 And k is a natural number.
Wherein step 10 comprises performing path point propagation in a horizontal plane for each desired three-dimensional path point. In one embodiment, the path point propagation of the horizontal plane to the desired three-dimensional path point comprises:
the desired three-dimensional waypoint Q is obtained by k Forward propagation path points and backward propagation path points of (1):
P (3k-2，h) ＝Q (k，h) -D kf Φ kyaw (1)
P (3k-1，h) ＝Q (k，h) +D k b Φ kyaw (2)
wherein, P (3k-2，h) ＝[P 3k-2x ，P 3k-2y ] T ，Q (k，h) ＝[Q kx ，Q ky ] T ，Φ k yaw ＝[cos(Q k yaw )，sin(Q k yaw )] T ，P (3k-1，h) ＝[P 3k-1x ，P 3k-1y ] T ，D kf 、D kb Respectively a preset forward expansion distance and a preset backward expansion distance.
In one embodiment, the forward propagation distance and the backward propagation distance are fixed values.
In another embodiment, the backward propagation distance is a fixed value, such as D k b =5m. The forward expansion distance is an adaptive value, and D is set in the following way k f ：
Wherein the minimum forward extension distance D fmin And a maximum forward extension distance D fmax Are respectively a preset value u k Is the current speed, Q, of the AUV k yav Q k-1 yaw Respectively, desired three-dimensional path points Q k Desired yaw angle and desired three-dimensional path point Q k-1 Desired yaw angle. In one example, D fmin ＝15m，D fmax ＝30m。
Wherein the application of equation (3) may further include setting a forward waypoint radius, a backward waypoint radius and a path arrival boundary, wherein, for example, R f ＝1m，R b ＝1m。
obtaining a three-dimensional waypoint Q by k Backward depth expansion path points of (1):
P 3k ＝Q (k p )+D kbz Φ (k p) (8)
wherein P is 3k ＝[P 3kx ，P 3ky ，P 3kz ，P 3ku ] T ，Q (k，p) ＝[Q kx ，Q ky ，Q kz ，Q ku ] T ，Φ (kp) ＝[cos(Q kyaw )，sin(Q kyaw )，0，0] T ；
Δz k ＝|Q k+1z -Q kz | (7)
Wherein D bzmin Extend distance, Δ z, for a preset minimum backward depth k Is Q k+1 And Q k Absolute depth difference between, theta kbz Is P 3k-1 And P 3k Desired pitch angle between, theta min To preset a minimum desired pitch angle, θ max Is a preset maximum desired pitch angle.
ψ k path ＝atan2(P k y -P k-1 y ，P k x -P k-1x ) (10)
de hk ＝-(x-P k-1x )sin(ψ k path )+(y-P k-1y )cos(ψ kpath ) (11)
Wherein psi k path For expanding three-dimensional path point P k And P k-1 The angle formed by the straight line and the X axis in the inertial coordinate system, de hk Is the distance, Δ, of the AUV from the line in the horizontal plane h k Is the adaptive forward looking distance, Δ h max Is a preset maximum forward looking distance, delta, of the horizontal plane h min Is a preset minimum horizontal forward looking distance u k Is the current speed of the AUV.
In one embodiment, further comprising: performing drift angle compensation on the expected yaw angle based on the AUV speed information, wherein the drift compensation angle psi k db Is obtained by the following formula:
wherein beta is k Is the current drift angle, α, of the AUV k ＝ψ-ψ k da Psi is the current yaw angle of the AUV, psi k da Is the desired yaw angle, psi, calculated kd ＝ψ kda -ψ kdb ；
Wherein v is the current transverse speed of the AUV, and u is the current longitudinal speed of the AUV.
The second step further comprises: calculating the expected pitch angle theta of the kth expansion path point on the vertical plane by the formula (26) kd ：
θ k path ＝atan2(P k z -P k-1z ，P′ k x -P′ k-1 x ) (27)
de vk ＝-(x′-P′ k-1x )sin(θ kpath )+(z-P k-1z )cos(θ k path ) (28)
Wherein, theta k path Is the included angle between the path formed by the k-1 st expected path point and the k-th expected path point and the X axis in the inertial coordinate system, de vk Is the distance, Δ, of the AUV from the desired path in the inertial frame v k Is an adaptive forward-looking distance, P' kx X ' are respectively the coordinates P ' obtained by synthesizing the current position of the AUV and the k expected path point by taking the k-1 expected path point as a coordinate origin ' k-1 x ＝0。
The invention provides a guidance law control method for autonomous underwater robot path tracking. Specific numerical values are provided in specific examples of the present invention for easy understanding, but it is easy to understand that the specific numerical values given in the present embodiment are examples, and other numerical values are not excluded without departing from the concept of the present invention. As shown in fig. 3, the method includes:
s31, inputting a desired three-dimensional path point Q required by a path point tracking task 1 ，Q 2 ...Q k ，Q k+1 ...Q n 。
The attributes of the three-dimensional path points include (x, y, z, u, yaw), (x, y, z) respectively represent the projection of the AUV along xi, eta, and zeta in an E-xi eta zeta coordinate system, u represents the speed of the AUV along an x axis in an O-xyz coordinate system, yaw represents the angle formed by an O-x axis and an E-xi axis after the projection of the AUV in the E-xi eta coordinate system, and the angle is defined as a yawing angle.
And S32, expanding the path points of the horizontal plane according to the expected three-dimensional path points.
Desired path point Q k-1 、Q k 、Q k+1 As shown in fig. 4, the forward direction is defined as the direction opposite to the desired waypoint heading angle, and the backward direction is defined as the same direction as the desired waypoint heading angle. From the path point Q k Forward expansion obtains an expanded path point P 3k-2 And obtaining an expansion path point P by backward expansion 3k-1 Respectively satisfy:
P (3k-2，h) ＝Q (k，h) -D k f Φ k yaw (1)
P (3k-1，h) ＝Q (k，h) +D k b Φ k yaw (2)
wherein, P (3k-2，h) ＝[P 3k-2x ，P 3k-2y ] T ，Q (k，h) ＝[Q kx ，Q ky ] T ，Φ (k，h) ＝[cos(Q k yaw) ，sin(Q k yaw )] T ，P (3k-1，h) ＝[P 3k-1x ，P 3k-1y ] T ，D k f 、D k b Respectively a forward extension distance and a backward extension distance, in this example, a backward extension distance D k b ＝5m。
Input forward waypoint radius R f =1m, backward path point radius R b =1m, route arrival is setBoundary, and minimum forward extension distance D fmin =15m and a maximum forward extension distance D fmax =30m. Considering various arrangement scenes of path points and the steering performance of the AUV, designing a self-adaptive forward expansion distance which can be obtained by the following formula:
wherein u k Is the current speed, Q, of the AUV k yaw 、Q k-1 yaw Respectively, the desired yaw angle of the kth desired waypoint and the desired yaw angle of the (k-1) th desired waypoint.
And S33, expanding the path points of the vertical plane according to the expected three-dimensional path points.
Input backward depth expansion point radius, e.g. R bz =1m. When the path of the vertical surface is tracked, the principle of 'firstly depth and then yawing' is followed, and when the AUV reaches Q k-1 According to Q when backward expanding the path point k-1 And Q k Is expected to be different by Δ z k And generating a depth expansion path point, and continuing to track the horizontal plane path after the AUV reaches the depth expansion path point, wherein the strategy of 'firstly depth and then heading' can effectively avoid the condition of reduced precision caused by a larger heading angle error during vertical plane tracking. According to the depth difference value deltaz k And desired waypoint Q k The adaptive backward depth expansion distance is designed according to the expected speed, and can be calculated according to the following formula:
Δz k ＝|Q k+1z -Q kz | (7)
wherein theta is kbz Is P 3k-1 And P 3k Desired pitch angle between, theta min =0 is the minimum desired pitch angle, θ max = pi/3 is the maximum pitch angle, D bz min =15m minimum backward depth extension distance, Δ z k Is Q k+1 And Q k The absolute depth difference between them.
As shown in FIG. 4, with Q k Obtaining a backward depth path point P for the expected three-dimensional path point through a backward depth expanding distance 3k And satisfies the following conditions:
P 3k ＝Q (kp) +D kbz Φ (kp) (8)
wherein P is 3k ＝[P 3kx ，P 3ky ，P 3kz ，P 3ku ] T ，Q (k，p) ＝[Q kx ，Q ky ，Q kz ，Q ku ] T ，Φ (kp) ＝[cos(Q kyaw )，sin(Q kyaw )，0，0] T 。
And S34, calculating the expected yaw angle of the horizontal plane by combining the AUV position information and the expansion path point information.
Steps S32 and S33 complete the expansion of the entire original three-dimensional path point (i.e., the desired three-dimensional path point), the original three-dimensional path point Q 1 ，Q 2 ...Q k ，Q k+1 ...Q n Obtaining an extended path point P through forward, backward and depth direction expansion 1 ，P 2 ...P n ，P n+1 ...P 3n The expanded path point is input into an Adaptive Line Of Sight (ALOS) algorithm to be resolved to obtain an expected yaw angle and a pitch angle, and the subsequent steps are all to process the expanded path point. The ALOS can obtain expected yaw angle and pitch angle information required by tracking according to the current position information and the expected path information, so that the position tracking problem is converted into an angle tracking problem.
The AUV location information may be obtained by the navigation device.
Initializing maximum horizon foresight distance Δ h max Minimum forward-looking distance delta from horizontal h min The desired yaw angle ψ of the horizontal plane, as shown in FIG. 5 kda This can be derived from the following formula:
ψ k path ＝atan2(P ky -P k-1y ，P kx -P k-1-x ) (10)
de hk ＝-(x-P k-1 x )sin(ψ k path )+(y-P k-1 y )cos(ψ k path ) (11)
wherein psi k path An angle de formed by a straight line consisting of the kth-1 expansion path point and the kth expansion path point and a plane E-zeta under an inertial coordinate system E-zeta eta zeta h k Is the lateral error, i.e. distance, Δ, of the AUV from the line hk Is the forward looking distance.
In this embodiment, an adaptive look-ahead distance Δ is used h k The adaptability of the AUV under different transverse errors and speeds is improved, when the transverse error is large or the AUV speed is low, the forward looking distance is reduced to enable the AUV to approach the expected path as soon as possible, and when the transverse error is small or the AUV speed is high, the forward looking distance is increased to enable the AUV to approach the expected path in a smoother curve. Adaptive look-ahead distance Δ h k Is derived from the following formula:
wherein Δ h max Is a preset maximum forward looking distance, delta, of the horizontal plane h min For a predetermined horizontal plane minimum forward-looking distance, e.g. Delta h max ＝10m，Δ h min ＝5m，u k Is the current speed of the AUV.
And S35, performing drift angle compensation on the expected yaw angle based on the speed information of the AUV.
As shown in FIG. 6, the AUV has a current lateral velocity v, a longitudinal velocity u, and a desired yaw angle ψ kda When the longitudinal speed of the AUV is u', the real motion direction of the robot is the expected yaw angle direction, and the drift compensation angle psi kdb This can be derived from the following formula:
from FIG. 6, it can be seen that
v′＝vcos(γ k ) (13)
Wherein due to
And u is greater than v, therefore
tan(ψ kdb )＝ψ kdb (16)
tan(β k )＝β k (17)
The longitudinal speed of the underwater robot is kept constant at a desired value, which is obtained by the formula
As can be seen from FIG. 6
ψ kd ＝ψ kda -ψ kdb (19)
γ k ＝ψ-ψ k d (20)
γ k ＝ψ-ψ kda +ψ kdb ＝α k +ψ kdb (21)
Based on Taylor's formula
Can obtain the product
To obtain
Wherein alpha is k ＝ψ-ψ k da ，ψ k da Is the desired yaw angle, ψ, calculated using ALOS in step S35 k db Is a compensation term for the expected yaw angle, psi is the current true yaw angle of the AUV, beta is the current true drift angle of the AUV, and the expected yaw angle after drift angle compensation is psi kd ＝ψ k da -ψ k db 。
And S36, calculating the expected pitching angle of the vertical plane by combining the AUV position information and the expansion path point information.
Initializing vertical plane maximum look-ahead distance Δ v max Minimum forward-looking distance delta from vertical v min . Expected pitch angle θ of vertical plane derived by ALOS algorithm kd This can be derived from the following formula:
θ k path ＝atan2(P k z -P k-1 z ，P′ k x -P′ k-1 x ) (27)
de vk ＝-(x′-P′ k-1x )sin(θ kpath )+(z-P k-1 z )cos(θ kpath ) (28)
wherein, P' k-1 x ＝0，θ k path And the angle formed by a straight line consisting of the kth expansion path point-1 and the kth expansion path point and a plane E-xi eta under the inertial coordinate system E-xi eta is formed. de vk Is the lateral error, Δ, of the AUV from the desired path in the inertial frame v k To adapt the look-ahead distance.
P′ k x And x' is the "x" coordinate obtained by synthesizing the current position of the AUV and the kth expected path point by taking the kth-1 expected path point as the coordinate origin, and can be obtained by the following formula:
wherein x is trans 、y trans 、
And
the coordinates are x and y coordinates of the current position of the AUV and the kth expected path point after conversion by taking the kth-1 expected path point as a coordinate origin.
In particular, the design vertical plane adaptive look-ahead distance Δ v k Improving path tracking smoothness and adaptability, adaptive forward looking distance delta v k This can be derived from the following formula:
wherein Δ v max =4m being the maximum forward-looking distance in the vertical plane, Δ vmax =2m is the minimum forward-looking distance in the vertical plane.
And S37, taking the expected yaw angle, the expected pitch angle and the expected speed obtained in S35 and S36 as the input of the sliding mode controller, and designing a sliding mode by combining AUV kinematics and a dynamic model as follows.
Wherein c is 1 ＞0，e 1 ＝u-u d
The calculated velocity u control rate is
Wherein
u d To the desired speed, k 1 ，c 1 And η 1 Taking the value k as the sliding mode control coefficient 1 ＝10，c 1 ＝0.002，η 1 ＝0.05。
Wherein c is 2 ＞0e 2 ＝ψ-ψ d
The calculated yaw angle psi control rate is
Wherein
ψ d To expect yaw angle, k 2 ，c 2 And η 2 Taking the value k as the sliding mode control coefficient 2 ＝4，c 2 ＝0.01，η 2 ＝0.2；
Wherein c is 3 ＞0e 3 ＝θ-θ d
The pitch angle theta control rate is calculated as
Wherein
θ d To expect yaw angle, k 3 ，c 3 And η 3 Taking k as sliding mode control coefficient 2 ＝1，c2＝0.03，η 2 ＝10；
τ u Is the expected thrust along the x-axis under the AUV's own coordinate system, tau q Is the expected pitching moment, tau, around the y axis under the AUV self coordinate system q Is the expected yaw torque around the z-axis under the AUV self coordinate system, X u|u| ，X vr ，X rr ，Y v|v| ，Y uv ，Y r|r| ，Y ur ，N v|v| ，N uv ，N r|r| ，N ur ，Z w|w| ，Z uw ，Z q|q| ，Z uq ，M w|w| ，M uw ，M q|q| ，M uq Are model parameters of the AUV. u, v, w, p, q, r are the velocity and angular velocity of the AUV under its own coordinate system.
S38, the control quantity calculated in the step S37 is forwarded to the driving unit by the AUV control unit, so that the rotating speed of the propeller and the rudder rotating angle for driving the AUV to move are obtained, and the state of the AUV is updated through navigation information after the AUV acts on the propeller and the rudderAnd information is generated, so that self state updating is realized. If the AUV does not reach the expected path point P k Then go to step S34, if the AUV reaches the desired path point P k And k is less than 3n, the expected path point is updated to be P k+1 Go to step S34, otherwise, go to step S39.
And S39, completing the path tracking task and waiting for issuing a new path tracking task.
As shown in fig. 7 and 8, the method provided by the embodiment of the present invention is used for a tracking effect diagram of three-dimensional waypoint tracking control. Setting the expected three-dimensional path points to be Q respectively 1 (0，0，0，1.5，π/2)，Q 2 (50，100，2，1.5，0)，Q 3 (100，50，2，1.5，-π/2)，Q 4 (50, -10,0,1.5, π). Generating 4 forward expansion points, 4 backward expansion points and 4 depth expansion points as shown in the figure. As can be seen from the figure, the method can conveniently and rapidly expand the expected three-dimensional path points to obtain a smoother tracking curve, and meanwhile, the situation that the depth control precision is reduced due to a larger yaw angle error is effectively avoided by the aid of the depth expansion points. Meanwhile, the invention can ensure that the underwater robot reaches the original expected path point according to the expected pose.
By adopting the guidance law control method for autonomous underwater robot path tracking provided by the embodiment of the invention, the attribute of the original three-dimensional path point (namely the expected three-dimensional path point) is analyzed and expanded, the tracking environment of the original expected path point can be improved well, and the expanded path points before and after the original expected path point can well ensure that an AUV passes through the original expected path point according to an expected posture; the principle of 'depth first and then heading' is adopted in the expansion of the path points of the vertical plane, so that the situation that the tracking precision of the vertical plane is reduced due to a large tracking error of a horizontal plane can be greatly improved, and the control precision of the vertical plane is improved; the ALOS algorithm is adopted to solve the horizontal plane yawing angle and the vertical plane yawing angle, and the robustness of the traditional LOS algorithm in different path point tracking scenes can be well improved according to the adaptive forward-looking distance designed according to the AUV speed and the transverse error during path tracking; the drift angle generated by the AUV is compensated on the horizontal plane, so that the tracking accuracy of the AUV in the self-drifting environment caused by external environments such as water flow disturbance, wind power disturbance and the like can be greatly improved.
An embodiment of the present invention further provides a guidance law control device for autonomous underwater robot path tracking, configured to execute the method in any one of the above method embodiments or implementation manners, as shown in fig. 9, where the device includes:
a task receiving module 91, configured to receive a waypoint tracking task;
an expansion module 92, configured to expand the expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing projections of an AUV (Autonomous underwater robot) along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing a velocity of the AUV along an x axis in a coordinate system O-xyz fixed to the AUV itself, and yaw representing an angle formed by the O-x axis and an E-xi axis in a projection of an E-xi eta plane, defined as a yaw angle; wherein (x, y, z) and u are known amounts;
and the calculating module 93 is used for calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law according to the position of the AUV and the position of the expanded three-dimensional path point.
The embodiment of the invention also provides a guidance law control system for autonomous underwater robot path tracking, as shown in fig. 10, the system comprises an AUV 110 and a ground terminal 120, wherein the AUV comprises the guidance law control equipment.
It is easily understood that the guidance law control system can also be designed to include other configurations, as shown in fig. 11, and the system can include a ground end of the underwater robot, a navigation positioning unit, a decision planning unit, an intelligent control unit and a bottom layer driving unit. The ground end of the underwater robot is responsible for issuing a path tracking control task; the decision planning unit receives the tasks issued by the ground terminal, processes the tasks and forwards the tasks to the intelligent control unit; the navigation positioning unit acquires pose information of the autonomous underwater robot; the intelligent control unit uses the method of the invention to carry out path tracking control; the bottom driving unit is responsible for driving the autonomous underwater robot to move along the expected path.
By adopting the guidance law control equipment or system for autonomous underwater robot path tracking provided by the embodiment of the invention, the attribute of the original three-dimensional path point (namely the expected three-dimensional path point) is analyzed and expanded, the tracking environment of the original expected path point can be improved well, and the path points expanded before and after the original expected path point can ensure that an AUV passes through the original expected path point according to an expected posture; the principle of 'depth first and then heading' is adopted in the expansion of the path points of the vertical plane, so that the situation that the tracking precision of the vertical plane is reduced due to a large tracking error of a horizontal plane can be greatly improved, and the control precision of the vertical plane is improved; the ALOS algorithm is adopted to solve the horizontal plane yawing angle and the vertical plane yawing angle, and the robustness of the traditional LOS algorithm in different path point tracking scenes can be well improved according to the adaptive forward-looking distance designed according to the AUV speed and the transverse error during path tracking; the drift angle generated by the AUV is compensated on the horizontal plane, so that the tracking accuracy of the AUV in the self-drifting environment caused by external environments such as water flow disturbance, wind power disturbance and the like can be greatly improved.
Finally, it should be pointed out that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A guidance law control method for autonomous underwater robot path tracking is characterized by comprising the following steps:
receiving a path point tracking task, and expanding expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing projections of an AUV (Autonomous underwater robot) along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing a velocity of the AUV along an x axis in a coordinate system O-xyz fixed to the AUV itself, and yaw representing an angle formed by the O-x axis and an E-xi axis in a projection of an E-xi eta plane, defined as a yaw angle;
step two, resolving a yawing angle and a pitching angle of the expanded three-dimensional path points by adopting a self-adaptive sight-guidance law in combination with the position of the AUV and the position of the expanded three-dimensional path points;
wherein, the step one of obtaining the expanded three-dimensional path point comprises the following steps:
performing path point expansion on a horizontal plane and path point expansion on a vertical plane on each expected three-dimensional path point to obtain a forward expansion path point, a backward expansion path point and a backward depth expansion path point of each expected three-dimensional path point; wherein the forward direction is the direction opposite to the desired waypoint heading angle and the backward direction is the same direction as the desired waypoint heading angle, the desired three-dimensional waypoint being represented as Q k K is a natural number;
wherein the desired three-dimensional path point Q is obtained by the following formula k The forward expansion path point and the backward expansion path point of (2):
P (3k-2，h) ＝Q (k，h) -D kf Φ kyaw (1)
P (3k-1，h) ＝Q (k，h) +D kb Φ kyaw (2)
wherein, P (3k-2，h) ＝[P 3k-2x ，P 3k-2y ] T ，Q (k，h) ＝[Q kx ，Q ky ] T ，Φ kyaw ＝[cos(Q kyaw )，sin(Q kyaw )] T ，P (3k-1，h) ＝[P 3k-1x ，P 3k-1y ] T ，D kf 、D kb Respectively a preset forward extension distance and a preset backward extension distance, P 3k-2x Is an expansion path point P 3k-2 X coordinate of (1), P 3k-2y 、Q kx 、Q ky 、Q kyaw 、P 3k-1x 、P 3k-1y Are respectively the path point P 3k-2 Y coordinate of (2), route point Q k X-coordinate of,Path point Q k Y coordinate of (2), route point Q k Yaw value, path point P 3k-1 X coordinate of (2), and a path point P 3k-1 Y-coordinate of (a);
wherein the three-dimensional path point Q is obtained by the following formula k The backward depth expanding path point of (2):
P 3k ＝Q (kp) +D kbz Φ (kp) (8)
wherein P is 3k ＝[P 3kx ，P 3ky ，P 3kz ，P 3ku ] T ，Q (k，p) ＝[Q kx ，Q ky ，Q kz ，Q ku ] T ，Φ (kp) ＝[cos(Q kyaw )，sin(Q kyaw )，0，0] T ；P 3kx 、P 3ky 、P 3kz 、P 3ku Are respectively a point P 3k X-coordinate, y-coordinate, z-coordinate and u-value of, Q kx 、Q ky 、Q kz 、Q ku Are respectively a point Q k X, y, z and u values;
Δz k ＝|Q k+1z -Q kz | (7)
wherein D bzmin Extend distance, Δ z, for a preset minimum backward depth k Is Q k+1 And Q k Absolute depth difference between, theta kbz Is P 3k-1 And P 3k Desired pitch angle between, theta min To preset a minimum desired pitch angle, θ max A preset maximum expected pitch angle; q k+1z Is a point Q k+1 Z-coordinate of (a);
the second step comprises the following steps: calculating the expected yaw angle psi of the k-th expansion path point in the horizontal plane by the following formula kda ：
ψ kpath ＝atan2(P ky -P k-1y ，P kx -P k-1x ) (10)
de hk ＝-(x-P k-1x )sin(ψ kpath )+(y-P k-1y )cos(ψ kpath ) (11)
Wherein psi kpath An angle de formed by a straight line consisting of the kth expansion path point-1 and the kth expansion path point and a plane E-xi zeta under an inertial coordinate system E-xi eta hk Is the distance, Δ, of the AUV from the line in the horizontal plane hk Is the adaptive forward looking distance, Δ hmax Is a preset maximum forward looking distance, delta, of the horizontal plane hmin Is a preset minimum forward looking distance, u, in the horizontal plane k Is the current speed of the AUV; p ky Is the k point P k Y coordinate of (1), P k-1y Is the k-1 st point P k-1 Y coordinate of (1), P kx Is the k point P k X coordinate of (1), P k-1x Is the k-1 st point P k-1 The x-coordinate of (a);
the second step further comprises: equation (26) of the expected pitch angle theta of the kth expansion path point on the vertical plane kd ：
θ kpath ＝atan2(P kz -P k-1z ，P′ kx -P′ k-1x ) (27)
de vk ＝-(x′-P′ k-1x )sin(θ kpath )+(z-P k-1z )cos(θ kpath ) (28)
Wherein, theta kpath Is an angle formed by a straight line consisting of the kth-1 expanding path point and the kth expanding path point and a plane E-xi eta in the inertial coordinate system, de vk Distance, Δ, of the AUV from the desired path vk For adaptation of the forward looking distance, P kz Is the kth point P k Z coordinate of (a), P k-1z Is the k-1 st point P k-1 Z coordinate of (1), P' kx X ' are respectively the coordinates P ' obtained by synthesizing the current position of the AUV and the k expected path point by taking the k-1 expected path point as a coordinate origin ' k-1x ＝0。
2. The method of claim 1, further comprising: setting the D in the following manner kf ：
Wherein the minimum forward extension distance D fmin And a maximum forward extension distance D fmax Are respectively a preset value u k Is the current speed, Q, of the AUV kyaw 、Q k-1yaw Respectively, desired three-dimensional path points Q k Desired yaw angle and desired three-dimensional path point Q k-1 The desired yaw angle.
3. The method of claim 1, further comprising: performing drift angle compensation on the expected yaw angle based on the AUV speed information, wherein the drift compensation angle psi kdb Is obtained by the following formula:
wherein beta is k Is the current drift angle, α, of the AUV k ＝ψ-ψ kda Psi is the current yaw angle of the AUV, psi kda Is the desired yaw angle, psi, calculated kd ＝ψ kda -ψ kdb ；
Wherein v is the current transverse speed of the AUV, and u is the current longitudinal speed of the AUV.
4. A guidance law control device for executing the method of any one of claims 1 to 3, characterized by comprising:
the task receiving module is used for receiving the path point tracking task;
the expanding module is used for expanding the expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing projections of an AUV (Autonomous underwater robot) along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing a velocity of the AUV along an x axis in a coordinate system O-xyz fixed to the AUV itself, and yaw representing an angle formed by the O-x axis and an E-xi axis in a projection of an E-xi eta plane, defined as a yaw angle; wherein (x, y, z) and u are known amounts;
and the calculating module is used for calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law in combination with the position of the AUV and the position of the expanded three-dimensional path point.
5. A guidance law control system for Autonomous underwater robot path tracking, comprising an AUV (Autonomous underwater robot) and a ground terminal, characterized in that the AUV comprises a guidance law control device for performing the method of any one of claims 1-3, the guidance law control device comprising:
the task receiving module is used for receiving the path point tracking task sent by the ground terminal;
the expanding module is used for expanding the expected three-dimensional path points indicated in the path point tracking task to obtain expanded three-dimensional path points; wherein the attributes of the desired three-dimensional path point include (x, y, z, u, yaw), (x, y, z) respectively representing the projection of the AUV along xi, eta, zeta in an inertial coordinate system E-xi eta zeta fixed on the ground, u representing the speed of the AUV along the x axis in a coordinate system O-xyz fixed on the AUV itself, and yaw representing the angle formed by the projection of the O-x axis in the E-xi eta plane and the E-xi axis, and defined as a yaw angle; wherein (x, y, z) and u are known quantities;
and the calculating module is used for calculating the yawing angle and the pitching angle of the expanded three-dimensional path point by adopting a self-adaptive sight-guidance law in combination with the position of the AUV and the position of the expanded three-dimensional path point.
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