Deep-sea Polymetallic Nodules Mining Machine Underwater Positioning And Path Planning Algorithm

This dissertation is focused on the research of under-water acoustic locating and path planning for deep-sea multi-metal nucleus collector, which includes two parts of under-water acoustic locating system research and path planning algorithm design. The working purpose is to rise the under-water locating precision and research reasonable path planning algorithm.In the first place, the dissertation summarizes the model collector and equipped Compact PCI control system. The working process and design parameters of the model collector are analyzed. For the digital compass and barrier detecting sonar clinging to path planning research, their working principle and relevant algorithm are presented particularly as the basis of the following studying.The under-water acoustic locating systems are studied. By error analyzing of the locating algorithm used on the model collector, the dissertation puts forward some locating methods and algorithms with higher locating precision. The layered math model of under-water velocity of sound is created and the double-hyperboloid cross locating formula is revised by numerical iteration. The simulating calculation results show the precision increasing validity of the adopted method.On the basis of synthesizing sorts of path planning algorithms applied mainly today and considering the collector's traits, the dissertation divides the path planning algorithm design works into two parts. The set-route following algorithm and self-learning bypass algorithm based on fuzzy neural network are designed. The rules stock is adjusted according to surrounded obstacles and the problem of complex ideal-path searching without full-scale information is avoided.