Cooperative control system and method based on unmanned surface vehicle and multiple underwater robots

Abstract

The invention discloses a cooperative control system and a cooperative control method based on an unmanned surface vehicle and multiple underwater robots. The cooperative control system comprises theunmanned surface vehicle and the multiple robots. The unmanned surface vehicle generates underwater exploration search targets and path planning information corresponding to all the robots based on obtained geographical positions of all the underwater exploration search targets, the underwater topographic information and the real-time geographical positions of all the robots; each robot receives the underwater exploration search target and the path planning information sent by the unmanned surface vehicle; and the search targets are investigated according to the path planning information, andimage information of a underwater suspicious target is acquired and compared with the received underwater exploration search targets until image video shooting and data acquisition of the suspicious target and the search targets are completed in the process of executing search target exploration when the underwater suspicious target is close to the underwater suspicious target. According to the cooperative control system, the SOM network is adopted to solve the problems of multi-machine cooperation, information sharing, multi-task allocation and real-time path planning of the unmanned surfacevehicle and multiple underwater robots.

Description

technical field [0001] The invention belongs to the technical field of sea-air interface robot cooperation, and in particular relates to a cooperative control system and method based on an unmanned boat and multiple underwater robots. Background technique [0002] On the earth where human beings live, the ocean occupies 71% of the earth's surface area, which is much larger than the proportion of land. With the continuous deepening of human understanding and exploration of the ocean, the development of marine science and technology has been accelerated. People are gradually realizing the importance of marine development, especially in the 21st century, facing the three major problems of deteriorating environment, increasing population and decreasing resources, the exploration and development of marine resources has received more and more attention. [0003] Autonomous Underwater Vehicle (AUV) is an important tool for marine resources and underwater environment exploration. W...

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Problems solved by technology

[0005] In view of the above problems, the present invention proposes a cooperative control system and method based on unmanned boats and multiple underwater robots, and uses a self-organizing mapping neural network method to solve multi-machine cooperation, information sharing, Multitasking and real-time path planning problems

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