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Investigation of Motion Control and Path Planning of Underwater Robot

Author: LuLiuYan
Tutor: WangMeiZuo
School: Yangzhou University
Course: Motor and electrical
Keywords: Underwater Robot Mathematic Modeling PID Control Local Obstacle Avoidance Fuzzy Algorithm Motion Simulation
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 96
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Due to a wide water surface and rich resources in China, the ocean is becoming one of the most strategic space with developable potential. Our government has taken marine development as a strategic key for national economy and social development in the21st century. Cause of the complexity and uncertainty of the underwater environment, underwater robots are being investigated to take the place of human to complete certain operations. To enable underwater robots to travel to the target position for completing the underwater observation mission through manual or automatic control in unknown environment, motion control and local path planning of robots is the key technology to achieve the task.In this paper, the research object is the underwater ROV for observation mission with type cable. Its shape design is enclosed with hydrodynamic performance of a good streamline shape, which provides the propulsion through the tail propeller and the direction of the underwater robot controlled by a pair of horizontal wings and a vertical rudder.Firstly, referring to torpedo’s idea of mathematical modeling, the paper established a space kinematic model of research object. And the model is simplified according to practical needs and control features to obtain some control parameters such as depth, heading angle and trim angle. Using the classical PID control algorithm to complete the motion control simulation of the underwater robot, the paper provides a theoretical basis for the design of a subsequent controller. Cause of the weak anti-interference ability for the system in the process of the simulation, the fuzzy adaptive PID control algorithm was used to optimize the control system, and finally verified by simulation.Secondly, path planning for the underwater robot based on the fuzzy algorithm, and described the principle of the algorithm and implementation process in detail. Then, using a ranging sonar simulation to get the detailed information of the obstacles and target within a certain range of the environment under the Matlab simulation environment. Ultimately, the robot can adjust the deflection angle in real time by the fuzzy controller with avoiding obstacles, reaches a predetermined target point, to verify the feasibility of the algorithm. The results of the simulation shows that the robot can reach the target by avoiding obstacles, verified the feasibility of the algorithm.Finally, this paper achieved the actual operation by setting up robot’s motion control system. Hardware and software system for the water and underwater do detail, compiled with PLC as the control system of underwater processor module of the program, realized the receiving various sensor information and control of underwater movement tasks. Based on Visual c#development tool as the upper machine set up monitoring interface and write communication program, realize the human-computer interaction control.The results in view of the underwater robot motion control and path planning is concluded through the computer and Matlab simulation platform, it provides the theoretical basis for the subsequent to conduct the water experiments of underwater robot.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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