Multi-underwater robot semi-physical simulation system and control method thereof

Abstract

The invention relates to a multi-underwater robot semi-physical simulation system and a control method thereof. The system comprises a visual scene display computer, a virtual environment computer, an electric switching device and an airborne autopilot. The visual scene display computer is in network communication connection with the virtual environment computer; kinematics models and dynamics models of each robot are stored in the virtual environment computer, and various kinds of virtual sensor device information is generated through model computation; the electric switching device switchesa standard cable interface of an expansion card of the virtual environment computer to be an interface capable of conveniently connecting the multi-underwater robot airborne autopilot; the airborne autopilot is a real underwater robot soft hardware control system, and is used for generating the executor control quantity according to own motion planning and closed loop, transmitting the executor control quantity to the virtual environment computer through the electric switching device and transmitting cooperation information to other robots through the virtual environment computer according tomission requirements. The multi-underwater robot semi-physical simulation system and the control method thereof are convenient to expand sensors and device nodes, and the system is excellent in expandability, high in transportability and convenient to configure various kinds of underwater robots.

Description

technical field [0001] The invention relates to the technical field of multi-underwater robot control and simulation, in particular to a multi-underwater robot semi-physical simulation system based on a hybrid hardware architecture and a control method thereof. Background technique [0002] In order to meet the needs of underwater robots in the design of control system software and hardware and the early verification of key technologies, domestic and foreign scholars have constructed various simulation platforms for underwater robots, mainly including digital simulation platforms and semi-physical simulation platforms. [0003] Semi-physical simulation, also known as semi-physical, hardware in loop (HIL, hardware in loop) simulation, is of great significance in the design and development of advanced underwater robot systems. Especially for the multi-robot system, it has the characteristics of complex system and various unpredictability. Therefore, it is necessary to study th...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the gap in the prior art that it is impossible to realize the simulation control of multi-robots, the technical problem to be solved by the present invention is to provide a multi-water robot that can verify complex processes such as the internal relationship and external coupling of the software and hardware of each robot system. Semi-physical simulation system of lower robot and its control method

Images