Miniature UVMS Design And Multi-UVMS Collaborative Research

In this paper,the multi-underwater robots cooperation in the shallow sea environment was developed to solve the problems of complex design and low diversity of tasks caused by functional solidification of the single underwater vehicle-manipulator system—UVMS,which resulted in complex coordination of the cooperation system and low implementation rate.The purpose of this paper is to design a simple and reasonable structure and free configuration of a small operating level autonomous underwater vehicle-manipulator compound system,by using it as a single object to expand the rational and efficient study of the multi-underwater vehicles.The research content mainly consists of the following aspects:1.With modular design thinking for UVMS function division and parsing,to complete its different module structure design,and then through the finite element analysis,the overall design and virtual assembly,and other aspects of the balance of UVMS structural validation and optimization design,provide collaboration monomer for underwater robot system research.2.Set up the UVMS 6-degree kinematical model and dynamics model;Considering stable watershed and nonlinear interference in practical application,combined with cascade PID and fuzzy PID advantages,the controller design of UVMS in the main motion direction was completed,and its practicability was verified in the Simulink simulation environment.3.Study of collaboration system,determine to centralized control as much UVMS collaborative architecture,and the hierarchical intelligent control structure to complete the decision making unit hierarchical design,to provide control cores for collaborative systems.4.Under the centralized control in turn perform multiple UVMS formation forming and maintaining and obstacle avoidance.And in the course of the study of multi-robot task allocation mechanism and local path planning based on artificial potential field method to make improvement,finally in the Matlab simulation environment verify the feasibility of the above decision algorithm and strategic planning.5.By using the multiple UVMS to coordinate unknown environmental modeling studies,the model accuracy and computational efficiency balance in traditional grid method are optimized;And in this environment model,the local optimal solution problem of traditional ant colony algorithm is improved,and the global path planning strategy is used to complete the positioning of UVMS in the target.Combining UVMS form virtual rigid body and the target,to complete the global path planning and more UVMS collaborative research.Research of multi-intelligent cooperative system is a mainstream direction of the robot in the future development,based on the monomer structure is simple,and limited ability to UVMS design as the matrix,through the centralized coordination control model is practical and efficient nakedness in a complex environment conditions of operation mode,providing a new method for Marine environmental action class cooperation method.