水下机器人缠绕障碍自动摆脱控制模型仿真

The Simulation Model of Underwater Robot Getting Rid of Entanglements Automatically Around Obstacles

提出一种适用于水下机器人缠绕障碍自动摆脱的控制模型。通过机器人自带的水下图像传感装置,利用图像变换水下采集的声纳图像进行降维处理,并求出其特征声纳图像,根据图像特征距离判断是否受到纠缠,在确定受到纠缠的情况下,采用主对协调控制,由于受到纠缠状态下,机器人在水下位置是在纠缠区,通过规划机器人的路线,实时检测纠缠情况,迭代规划摆脱路径,摆脱纠缠。仿真实验结果表明,该方法在40dB信噪比条件下,对水下机器人的纠缠摆脱有着较好的效果,可以有效地对水下机器人进行纠缠摆脱。

This paper puts forward a kind of suitable for underwater robot clingy obstacles automatically get rid of the control model. By robotic underwater image sensing device, the use of image transformation of underwater sonar image collection dimension, and find out the characteristics of acoustic images, according to the characters of image distance judgment whether the entanglement, received entangled in certain cases, to coordinate is used to control, due to the entangled state, the robots are in entanglement in underwater location area, through the planning of the robot line, real-time detection to entwine, iteration planning out of the path, get rid of the entanglement, The simulation experimental results show that the method under the condition of 40 dB SNR, has a good effect on the entanglement of the underwater robot out of, can be effective for entanglement from underwater robots.