CN104898594B - A kind of communicator and method for underwater crowd's Collaborative Control - Google Patents
A kind of communicator and method for underwater crowd's Collaborative Control Download PDFInfo
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Abstract
The present invention provides a kind of communicator and method for underwater crowd's Collaborative Control.The communicator includes spherical transducer, underwater sound communication module, tuning controller, motion controller, is sequentially connected.Spherical transducer completes sending and receiving for underwater sound signal, and underwater sound communication module completes detection, judgement and the coding of underwater sound signal, the group bag of data and decoding, completes the framing of data frame according to the communication protocol of definition and tears frame open.Tuning controller uses a kind of leader follower strategy structural coordination control method, completes the planning in robot motion path, and motion controller completes tracking of each robot to desired motion path according to the motion path of planning.The cooperative control method can solve the problems, such as that the whole multiple robots tracking performance caused by the constraint of communication context and bandwidth declines.
Description
Technical field
The present invention relates to a kind of communicator and method for underwater crowd's Collaborative Control.
Background technology
The Collaborative Control of multiple underwater robots is a typical problem in multi-robot coordination cooperation.Multiple underwater machines
The Collaborative Control of device people can complete the job task that individual machine people can not complete, and significantly improve the completion efficiency of task.It is empty
It is the current method mainly used to intend Structure Method and follow pilotage people's method.Virtual architecture method requires robot with the phase on rigid body
The position and attitude information that should be put form certain formation as respective tracking target, stronger coupling be present between robot
Conjunction relation, flexible evolution can not be realized.And pilotage people's method is followed to require one robot of control at an angle
With distance track one or several robots, can realize formation deformation or evolution, the adaptability having had to obstacle,
But it is required that the real-time Communication for Power in the machine human world, very high to the performance requirement of angle and distance measurement sensor, as distance increase is logical
Traffic increased dramatically.
The present invention provides a kind of communicator and method for underwater crowd's Collaborative Control, is passed using a kind of principal and subordinate
Stage structure control method for coordinating, it can be planned according to different job tasks by tuning controller realizing route.By whole machine
Device crowd is spatially divided into some clusters, and the cluster that the strong robot of an ability to communicate is selected per cluster as the cluster is grown, only cluster
Communicated between length using coordinate per cluster rows as, between cluster according to rigid structure carry out coordinate control and then according to master slave mode in cluster
Coordination control is carried out, can thus control large-scale underwater crowd, is beneficial to the traffic saved between robot.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of communicator for underwater crowd's Collaborative Control.
The invention solves another technical problem be to provide it is a kind of for the logical of underwater crowd's Collaborative Control
Letter method.
For the communicator for underwater crowd's Collaborative Control, the technical solution adopted by the present invention is：Including ball
Shape transducer, underwater sound communication module, tuning controller, motion controller；
Spherical transducer, underwater sound communication module, tuning controller, motion controller are sequentially connected.
Preferably, frequency is 35kHz omni-bearing spherical ceramic transducer centered on spherical transducer.
Preferably, the main control chip that underwater sound communication module uses is Atmega16.
Underwater sound communication module realizes the reception and transmission of signal using interrupt mode, and transmit power amplification module is 16：270
Transformer, pulse voltage peak-to-peak value about 800V；Its front end receiver end includes lowpass and band-pass filter and difference amplifier；Water
Sound communication module works for dual-mode, completes the framing of data frame according to communication protocol and tears frame open, completes the inspection of underwater sound signal
Survey, judge and coding, the group bag of data and decoding；
Preferably, the main control chip that tuning controller uses is Atmega16.
Preferably, tuning controller by RS232 serial communication modulars respectively with underwater sound communication module and motion control
Device connects.
For the communication means for underwater crowd's Collaborative Control, the technical solution adopted by the present invention be include it is following
Step：
(1) two coordinate systems, respectively inertial coodinate system X-O-Y and robot body coordinate system x-o'-y are initially set up,
Coordinate of the robot under inertial coodinate system represent with longitude, latitude, height and the anglec of rotation in three directions, totally 6 from
By spending；
Underwater robot kinetics equation can be described as
U=AF
Wherein M (h) ∈ R6×6For symmetric positive definite inertial matrix,For centrifugal force and Coriolis force matrix,
u∈R6For controlled quentity controlled variable, A is control input transition matrix, and F is the controling power and torque of robot,
OrderThen formula (1) can be written as
Introduce state variable
Formula (1) can be written as state equation form：
Wherein
(2) whole multiple robots are spatially divided into some clusters, the strong robot of an ability to communicate is selected per cluster and is made
Grow, communicated between cluster length to coordinate per cluster rows to carry out according to rigid structure coordinating control and cluster between cluster for the cluster of the cluster
Inside then carry out coordination control according to path following control；The long communication distance of cluster is remote, has a wide range of maneuverability, the power of cluster length
Scholarship and moral conduct is to represent the behavior of the cluster, and other robot only need to track predetermined path planning according to Trajectory Tracking Control method can
Tracked with realizing route.
The beneficial effects of the invention are as follows：
The spherical transducer of use has comprehensive communication capacity, is not constrained by robot motion's posture.Coordinate control
The leader follower strategy structural coordination control method that device uses, is planned by tuning controller realizing route, whole multiple robots is existed
Some clusters are spatially divided into, the cluster that the strong robot of an ability to communicate is selected per cluster as the cluster is grown, and only enters between cluster length
Row communication is to coordinate every cluster rows to carry out coordination control according to rigid structure between cluster and then being coordinated in cluster according to master slave mode
Control, can thus control large-scale multiple robots, and be beneficial to reduce the traffic between robot.Using optimal
Trajectory Tracking Control method completes tracking of the robot to expected path, can at utmost save the ability consumption of robot,
Lengthen working hours.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the system composition of the communication device embodiment of underwater crowd Collaborative Control of the present invention.
Fig. 2 is the leader follower strategy structural coordination control method of the tuning controller of the embodiment of the present invention.
Fig. 3 be the leader follower strategy structural coordination control method of the tuning controller of the embodiment of the present invention cluster between control knot
Structure.
Fig. 4 is control knot in the cluster of the leader follower strategy structural coordination control method of the tuning controller of the embodiment of the present invention
Structure.
Fig. 5 is the data framing protocol composition structural representation of the intercommunication for robot of the embodiment of the present invention.
Embodiment
Fig. 1 is a kind of communicator for underwater crowd's Collaborative Control, by spherical transducer, underwater sound communication mould
Block, tuning controller, motion controller are connected in sequence.
Frequency is 35kHz omni-bearing spherical ceramic transducer centered on spherical transducer.
Tuning controller and underwater sound communication module use main control chip Atmega16.
Underwater sound communication module realizes the reception and transmission of signal using interrupt mode, and transmit power amplification module is 16：270
Transformer, pulse voltage peak-to-peak value about 800V；Its front end receiver end includes lowpass and band-pass filter and difference amplifier；Water
Sound communication module works for dual-mode, completes the framing of data frame according to communication protocol and tears frame open, completes the inspection of underwater sound signal
Survey, judge and coding, the group bag of data and decoding；
Tuning controller is connected with underwater sound communication module and motion controller respectively by RS232 serial communication modulars.
When above-mentioned communicator is specifically used, by motion controller by motor control underwater human body posture,
Position and attitude signal are fed back to motion by underwater robot by position and attitude transducer (sensor is abbreviated as in Fig. 1) again
Controller.
Method using above-mentioned communicator to underwater crowd's Collaborative Control, is comprised the following steps that：
(1) two coordinate systems, respectively inertial coodinate system X-O-Y and robot body coordinate system x-o'-y are initially set up,
Coordinate of the robot under inertial coodinate system represent with longitude, latitude, height and the anglec of rotation in three directions, totally 6 from
By spending.Underwater robot kinetics equation can be described as
U=AF
Wherein M (h) ∈ R6×6For symmetric positive definite inertial matrix,For centrifugal force and Coriolis force matrix,
u∈R6For controlled quentity controlled variable, A is control input transition matrix, and F is the controling power and torque of robot,
OrderThen (1) can be written as
Introduce state variable
(1) can be written as state equation form：
Wherein
(2) whole multiple robots are spatially divided into some clusters, the strong robot of an ability to communicate is selected per cluster and is made
Grow, communicated between cluster length to coordinate per cluster rows to carry out according to rigid structure coordinating control and cluster between cluster for the cluster of the cluster
Inside then carry out coordination control according to path following control.The long communication distance of cluster is remote, has a wide range of maneuverability, the power of cluster length
Scholarship and moral conduct is to represent the behavior of the cluster, and other robot only need to track predetermined path planning according to Trajectory Tracking Control method can
Tracked with realizing route.
(3) Fig. 3 is the tuning controller software frame of cluster length, wherein topFor discrete event monitor and it is responsible for this
The performance Index Calculation of cluster, it can develop and a series of formation pattern, and can be possessed between cluster length by being in communication with each other
The copy of formation pattern；It is inputted grows the performance indications of itself for clusterThe performance indications of all cluster persons in clusterAnd come
From the performance of other cluster persons (after solution frame fromExtracted in field)；It exports the desired trajectory coordinate for the clusterAnd property
Can indexFig. 4 is the tuning controller software frame of cluster inner machine people, different from the tuning controller of cluster length, the cluster of cluster person
Long tuning controller does not have top discrete event monitor.For path planning module, it produces and is delivered from downwards
Body coordination variable(desired trajectory coordinate), its input is controllerOutput：Local tracking errorFor control
Device module, it inputs the output vector for robot(actual path coordinate) and coordination variable(desired trajectory coordinate), and
Control machine people tracks the desired trajectory, and its output is dominant vectorWith system part tracking errorThe S of the bottomiGeneration
Table robot system, its input is exactly controllerOutput vectorIts output vectorRepresent the physical location of robot
And posture.Cluster length by desired trajectory coordinate using broadcast mode rather than point-to-point communicationThe cluster person of all clusters is broadcast to,
Cluster person is carried out after solving frame processing, the desired trajectory field that itself needs is extracted, cluster person is by self performanceIt is point-to-point logical
The target cluster person for sending the cluster to of the mode of letter.The performance indications of this cluster can be independently calculated so as to the cluster length of each cluster.
Each robot performance's index calculation is
Wherein, e (t) ∈ R12For tracking error vector, t0For performance Index Calculation initial time, tfTerminate for performance indications
Time, Q (t) are 12 × 12 positive semidefinite matrixs, P (t) andFor 12 × 12 positive definite matrixes, R0(t) it is 6 × 6
Positive definite matrix.Section 1 reflects the requirement to end point error in performance indications, and Section 1 is reflected to controlling after the sign of integration
The requirement of error in journey, Section 2 have reflected on oneself the requirement to energy expenditure.
For formula (2), Hamilton functions are taken
Then
OrderIt can solve
Therefore u*For optimum control, to deserved Optimal error equation and optimal Hamilton functions H*Respectively
So optimum control u is determined completely*, it is necessary to obtain
Known by the boundary condition of Hamilton-Jacobi equations
By J (e (tf),tf) be quadratic form, i.e.,So
And Hamilton-Jacobi equations are carried it into, obtain
So K (t) should meet Riccati equations
And boundary condition K (tf)=P (tf)
So optimum control is
Wherein
(It is n ranks square formation) it is symmetric positive definite matrix.
Work as tf=∞ and to take P=0 in performance indications, Q and R be constant value matrix, then optimal control law is
Wherein,(It is 6 rank square formations) it is symmetric positive definite matrix, to meet Riccati equationsSolution.
Its performance Index Calculation mode of i-th cluster robot is
Wherein NiFor the i-th cluster robot number, wijFor the tracking performance weight of j-th of robot in the i-th cluster；Then whole machine
The performance indications of device crowd are represented by
Wherein N is number of clusters mesh, WiFor the i-th cluster tracking performance weight.
Fig. 5 is the communication frame format of the intercommunication for robot, and its frame head accounts for 1 byte, its lattice of each
Formula is 00001111, and when underwater sound communication module detects the signal of 1 byte, expression has received data frame.
Address field includes source address and destination address, respectively accounts for 1 byte, its form be from 00000001 to
11111111, totally 127 addresses；Represent that maximum can accommodate 127 communication terminals.Communication type accounts for 1 byte, and its form is
00000000, wherein 00000000 represents broadcast communication mode, 11111111 represent point to point link mode.Content of Communication field
Including desired trajectory coordinate (wherein 1 byte of depth value and one, azimuth byte) and 1 byte of real-time factor；Then
It is cyclic redundancy (CRC) detected field, accounts for 1 byte, postamble accounts for 1 byte, and its form is 00001111.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (1)
1. a kind of communication means for underwater crowd's Collaborative Control, it is characterised in that comprise the following steps：
(1) two coordinate systems, respectively inertial coodinate system X-O-Y and robot body coordinate system x-o'-y, machine are initially set up
Coordinate of the people under inertial coodinate system represent with longitude, latitude, height and the anglec of rotation in three directions, totally 6 frees degree；
Underwater robot kinetics equation can be described as
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U=AF
Wherein M (h) ∈ R6×6For symmetric positive definite inertial matrix,For centrifugal force and Coriolis force matrix, u ∈ R6
For controlled quentity controlled variable, A is control input transition matrix, and F is the controling power and torque of robot,
OrderThen formula (1) can be written as
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Formula (1) can be written as state equation form：
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(2) whole multiple robots are spatially divided into some clusters, the strong robot of a selected ability to communicate, which is used as, per cluster is somebody's turn to do
Cluster cluster length, cluster length between communicated using coordinate per cluster rows as, between cluster according to rigid structure carry out coordinate control and in cluster then
Coordination control is carried out according to path following control；The long communication distance of cluster is remote, has a wide range of maneuverability, the power scholarship and moral conduct of cluster length
To represent the behavior of the cluster, it is real that other robot only need to track predetermined path planning can according to Trajectory Tracking Control method
Existing path trace；
For the communicator of underwater crowd's Collaborative Control, including spherical transducer, underwater sound communication module, coordination control
Device, motion controller；
The spherical transducer, underwater sound communication module, tuning controller, motion controller are sequentially connected；
Frequency is 35kHz omni-bearing spherical ceramic transducer centered on the spherical transducer；
The main control chip that the underwater sound communication module uses is Atmega16；
Underwater sound communication module realizes the reception and transmission of signal using interrupt mode, and transmit power amplification module is 16：270 transformations
Device, pulse voltage peak-to-peak value about 800V；Its front end receiver end includes lowpass and band-pass filter and difference amplifier；The underwater sound leads to
Believe that module works for dual-mode, the framing of data frame is completed according to communication protocol and tears frame open, the detection of underwater sound signal is completed, sentences
Disconnected and coding, the group bag of data and decoding；
The main control chip that the tuning controller uses is Atmega16；
The tuning controller is connected with underwater sound communication module and motion controller respectively by RS232 serial communication modulars.
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| CN105824236B (en) * | 2016-03-08 | 2017-10-03 | 哈尔滨工程大学 | A kind of adaptive group-net communication method of underwater robot |
| CN106314728B (en) * | 2016-09-18 | 2018-02-27 | 河海大学常州校区 | Underwater search and rescue robot, cooperative control system and its method of work |
| CN106335617B (en) * | 2016-09-18 | 2018-02-23 | 河海大学常州校区 | Underwater robot energy supplying system, underwater robot and underwater crowd's system |
| CN106842209B (en) * | 2017-01-24 | 2019-04-23 | 哈尔滨工程大学 | A kind of multirobot collaboration underwater terrain matching navigation system and method |
| JP6828572B2 (en) * | 2017-04-18 | 2021-02-10 | 富士通株式会社 | Robot movement time estimation program and robot movement time estimation method |
| CN114879703B (en) * | 2022-07-08 | 2022-09-09 | 山东省科学院海洋仪器仪表研究所 | Underwater robot path tracking control method |
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