机电工程技术2024，Vol.53Issue(4)：20-24,133,6.DOI:10.3969/j.issn.1009-9492.2024.04.005
基于人工势场法的水下机器人编队超声波测距设计
Ultrasonic Ranging Design for ROV Formation Based on Artificial Potential Field Method
摘要
Abstract
In the process of remote operated vehicle(ROV)formation transformation,it is need to continuously obtain the distance information between the pilot and the follower.In order to solve the ranging problem,a ranging system based on a four-channel ultrasonic transducer is designed with STM32F103RET6 as the core.The system is composed of single-chip microcomputer main control module,voltage conversion module,ultrasonic generation and emission module,isolation module,pre-amplification module,bandpass filter module,post-amplification and comparison module,temperature acquisition module and multi-channel measurement control module,and so on.During the movement of the underwater robot,by using the system,the distance measurement can be realized,and the ranging results can be corrected according to the temperature to improve the accuracy,then assisting the artificial potential field method to realize the formation control of the ROV.In the clear water environment,the ranging system is tested at different depths,the maximum measurement distance is 200 cm,the maximum error is 2.2 cm,and the ranging results are reliable.In the formation performance test,the formation is observed to be basically maintained in the experiment,which verified that the ranging system met the actual ROV formation application requirements.关键词
多ROV编队/超声波换能器/测距/人工势场法Key words
multi-ROV formation/ultrasonic transducers/ranging/artificial potential field method分类
信息技术与安全科学引用本文复制引用
鲁佳慧,宋逍潇,王青春..基于人工势场法的水下机器人编队超声波测距设计[J].机电工程技术,2024,53(4):20-24,133,6.基金项目
国家自然科学基金资助项目(51475255) （51475255）
