基于人工势场法的水下机器人编队超声波测距设计  

Ultrasonic Ranging Design for ROV Formation Based on Artificial Potential Field Method

作　　者：鲁佳慧 宋逍潇 王青春[1] Lu Jiahui;Song Xiaoxiao;Wang Qingchun(School of Technology,Beijing Forestry University,Beijing 100083,China)

机构地区：[1]北京林业大学工学院,北京100083

出　　处：《机电工程技术》2024年第4期20-24,133,共6页Mechanical & Electrical Engineering Technology

基　　金：国家自然科学基金资助项目(51475255)。

摘　　要：在水下机器人编队变换过程中,需要不断获得领航者与跟随者以及跟随者相互之间的距离信息。为了解决测距问题,基于STM32F103RET6单片机设计一个基于四通道超声波换能器的测距系统。该系统由单片机主控模块、电压转换模块、超声波产生与发射模块、隔离模块、前级放大模块、带通滤波模块、后级放大与比较模块、温度采集模块以及多通道测量控制模块等部分构成。在ROV运动过程中,该系统可实现距离测量,并可以根据温度修正测距结果,提高精度,辅助人工势场法实现水下机器人的编队队形控制。在清水环境下,在不同深度对测距系统进行测试,最远测量距离为200 cm,误差最大为2.2 cm,测距结果可靠。在编队性能测试中,观测到队形变换顺利且可以基本保持,验证了该测距系统符合实际ROV编队应用要求。In the process of remote operated vehicle(ROV)formation transformation,it is need to continuously obtain the distance information between the pilot and the follower.In order to solve the ranging problem,a ranging system based on a four-channel ultrasonic transducer is designed with STM32F103RET6 as the core.The system is composed of single-chip microcomputer main control module,voltage conversion module,ultrasonic generation and emission module,isolation module,pre-amplification module,bandpass filter module,post-amplification and comparison module,temperature acquisition module and multi-channel measurement control module,and so on.During the movement of the underwater robot,by using the system,the distance measurement can be realized,and the ranging results can be corrected according to the temperature to improve the accuracy,then assisting the artificial potential field method to realize the formation control of the ROV.In the clear water environment,the ranging system is tested at different depths,the maximum measurement distance is 200 cm,the maximum error is 2.2 cm,and the ranging results are reliable.In the formation performance test,the formation is observed to be basically maintained in the experiment,which verified that the ranging system met the actual ROV formation application requirements.

关 键 词：多ROV编队 超声波换能器 测距 人工势场法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]