面向模块化设计的水下机器人集群编队控制  

Research on swarm formation control of modular underwater robots

作　　者：孙栋 汤奇荣[2,3] 刘明昊 李江 刘浩煜 崔国华 SUN Dong;TANG Qi-rong;LIU Ming-hao;LI Jiang;LIU Hao-yu;CUI Guo-hua(Shanghai University of Engineering Science,Intelligent Collaborative Robot Research Institute,School of Mechanical and Automotive Engineering,Shanghai 201620,China;Tongji University,Laboratory of Robotics and Multibody System,School of Mechanical Engineering,Shanghai 201804,China;Tongji University,Sino-Germany College,Shanghai 201804,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院智能协作机器人研究所,上海201620 [2]同济大学机械与能源工程学院机器人技术与多体系统实验室,上海201804 [3]同济大学中德学院,上海201804

出　　处：《舰船科学技术》2024年第2期68-73,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(61873192);上海市产业协同创新项目(产业发展类)(HCXBCY-2022-051)“快扶”项目(61403110321);“创新”项目(No.20-163-00-TS-009-125-01,21-163-00-TS-011-011-01,2021-JCJQ-LB-010-11,2022-JCJQZQ-079);“十四五”装备预研共用技术项目(50912030501)。

摘　　要：针对在近海环境下,利用“以机代人”进行自主特种作业的实际需求,设计研发模块化可重构水下机器人,并提出一种基于领航者-虚拟结构的编队策略。首先针对几种不同的典型水下作业任务,依据重构方案设计异构水下机器集群;然后根据水平面三自由度运动学和动力学方程,推导水下机器人集群的动态误差模型;针对路径已知的集群编队问题提出领航者-虚拟结构策略,其中跟随者水下机器人采用基于通信时延补偿的滑模控制器进行跟踪。结果表明,该控制策略可以快速形成队形且轨迹误差小于5%。最后应用3种已开发完成的水下机器人,在可视化仿真平台中进行实验验证,证明该异构水下机器人集群编队方法合理高效。In this paper,aiming at meeting the actual requirements of autonomous special tasks in the offshore environment,a modular reconfigurable underwater robot is designed and developed,and a formation strategy based on the leadervirtual structure is proposed.Firstly,a heterogeneous underwater robot cluster is designed according to the reconfiguration scheme for several different typical underwater tasks.Then,according to the 3-DOF kinematics and dynamics equations,the dynamic error model of the swarm underwater robots is derived.And a virtual-leader structure strategy is proposed for the cluster formation problem with known path,in which the follower underwater robot tracking virtual tracks uses a sliding mode controller based on the compensation of communication delay.The result shows that the control method can quickly generate formation and the trajectory error is less than 5%.Finally,three types of developed underwater robots are applied to the visual simulation platform for experimental verification,which proves that the self-designed underwater robot swarm formation method is valuable and effective.

关 键 词：水下机器人 无人集群系统 编队控制 滑模变结构 可视化仿真 

分 类 号：U674.94[交通运输工程—船舶及航道工程]