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 leader-virtual 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.
2024,46(2): 68-73 收稿日期：2023-01-11
DOI：10.3404/j.issn.1672-7649.2024.02.012
分类号：U674.94
基金项目：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-JCJQ-ZQ-079)；“十四五”装备预研共用技术项目(50912030501)
作者简介：孙栋(1997-),男,硕士研究生,研究方向为水下机器人设计及控制
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