http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-111522351-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D1-0692 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G05D1-06 |
| filingDate | 2020-05-15^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2021-05-18^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2021-05-18^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-111522351-B |
| titleOfInvention | Three-dimensional formation and obstacle avoidance method for underwater robot |
| abstract | The invention relates to a three-dimensional formation and obstacle avoidance method for underwater robots, which comprises the following steps: defining a geometric formation by adopting a virtual structure method, and constructing a three-dimensional formation system mathematical model of the underwater robot according to a reference track of the formation center; under the barrier-free environment, calculating the reference state vector of each underwater robot based on the Lyapunov stability principle; calculating the influence of a single obstacle on the movement of the underwater robots so as to correct the reference movement speed of each underwater robot; according to a zero-space strategy, considering the influence of all obstacles on the motion of the underwater robot, and obtaining reference state vectors of all underwater robots in a multi-obstacle environment; and solving the formation control problem by utilizing the nonlinear model predictive controller according to the respective reference state vector of each underwater robot to obtain the optimal control input. The method considers the influence of all obstacles on the motion of the underwater robot based on the corrected zero-space model prediction, simultaneously ensures the stable formation navigation and safe obstacle avoidance of the robot, and is suitable for complex environments. |
| priorityDate | 2020-05-15^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID962 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419512635 |
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