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Study on the 3D arbitrary path planning and collaboration task of multiple spherical underwater robots
https://kagawa-u.repo.nii.ac.jp/records/9572
https://kagawa-u.repo.nii.ac.jp/records/9572c5889047-308d-4853-8fd4-ea0699aa9dec
| 名前 / ファイル | ライセンス | アクション |
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本文の要約 (288.4 kB)
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論文内容の要旨・審査結果の要旨 (132.9 kB)
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| Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||||
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| 公開日 | 2022-05-02 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Study on the 3D arbitrary path planning and collaboration task of multiple spherical underwater robots | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||||
| 資源タイプ | doctoral thesis | |||||||||||
| その他（別言語等）のタイトル | ||||||||||||
| その他のタイトル | マルチ球型水中ロボットのための3D任意経路計画と協調作業に関する研究 | |||||||||||
| 言語 | ja | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 著者 |
安, 若宸
× 安, 若宸
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Underwater robots provide great possibilities for people to detect the marine environment. The spherical underwater robot (SUR) is highly flexible and can achieve underwater multi‐degree of freedom movements. Considering the characteristics of the SUR and based on the previous research in our laboratory, the stability and high autonomy of the SUR should be improved. The stability and efficiency of a single underwater robot are the basis for performing the task, and the communication and collaboration between multiple underwater robots will enable more complex underwater tasks. Collaboration of multiple SURs is also an essential technology for underwater robots and provides the basis for achieving complex tasks. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | To address these issues, the Fifth‐generation Spherical Underwater Robot (SUR V) with hybrid propulsion devices including vectored waterjet and propeller thrusters, acoustic communication systems, and vision system is proposed in this thesis. To analyze the motion characteristics of the SUR V, the computational simulation is calculated in ADAMS and ANSYS CFX respectively. The simulation results verify the performance of the improved spherical underwater robot. Finally, the thrust experiments were conducted that evaluate the performance of the hybrid thruster. The thrust experiment proves that in the improved hybrid thruster proposed in this thesis, the maximum thrust of the propeller thruster has increased by 4 times than before. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | A new torque gyro control and PID control devoted was designed in this thesis to improve the stability ability of the SUR. In this new system, we used a gyro sensor and PID control to develop a closed‐loop control module to perform the underwater task efficiently. Regarding the spherical robot mechanical structure and dynamic model, the robot control module is designed and set up to complete underwater experiments. In the underwater experiment, the SUR can stabilize motion. A certain offset occurs of SUR under the disturbance of the wind. After the adjustment of the balance control module, the SUR balance is quickly restored. In addition, it is essential to analyze the underwater motion to evaluate the performance of the robot stability motion. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | In order to avoid the risk of obstacles collision during the SUR move to target points in 3D arbitrary path planning, an underwater obstacle avoiding method was studied. Considering the uncertainty of the movement of obstacles in the actual environment, we present an uncertain moving obstacle avoiding method based on the improved velocity obstacle method. In addition, to reduce the distance and time of obstacle avoidance, the concept of the time of obstacle avoiding was designed. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | First, the size and velocity information of obstacles are obtained through the camera, which can provide an accurate decision basis for obstacles avoidance in the next step. Then, according to the time when the robot collides with the obstacle, the time of start and end of the obstacle avoidance is determined. The movement direction and velocity of the robot are obtained based on the improved velocity obstacle method and the movement characteristics of SUR. Finally, a detailed 3D arbitrary path planning analysis based on an improved ant colony algorithm was conducted. A series of experiments were carried out in the pool that validates the proposed methods are also presented. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Task planning and collaboration of multiple robots have broad application prospects and value in the field of robotics. To improve the performance and working efficiency of our SUR, we propose a multi‐robot control strategy that can realize the task planning and collaboration of multiple robots. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | We first build an acoustic communication system with excellent communication performance under low noise ratio conditions that to complete real‐time information sharing of multiple robots. Then, the task planning and collaboration control strategy adjusts the SURs so that they maintain their positions in the desired formation when the formation moves. Multiple SURs can move along desired trajectories in the expected formation. The control strategy of each SUR uses only its information and limited information of its neighboring SURs. Finally, based on theoretical analysis and experiments, we evaluate the validity and reliability of the proposed strategy. In comparison to the traditional leader‐follower method, it is not necessary to designate a leader and its followers explicitly in our system; thus, important advantages, such as fault tolerance, are achieved. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | To achieve more complex underwater tasks, underwater robots are equipped with manipulators. Conventional manipulators are too heavy to be used for small target objects and unsuitable for shallow sea working. A bio‐inspired Father‐son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification in this thesis. Our spherical underwater robot (SUR), as the father underwater robot of the FURS, has the ability of strong dynamic balance and good maneuverability, can realize approach the target area quickly, and then cruises and surround the target object. A coiling mechanism was installed on SUR for the recycling and release of the son underwater robot. A Salamandra‐inspired son underwater robot is used as the manipulator of the FURS, which is connected to the spherical underwater robot by the tether. The son underwater robot has multiple degrees of freedom and realizes both swimming and walking movement modes. The son underwater robot can move to underwater target objects. The vision system is installed to enable the FURS to acquisition the image information of the target object with the aid of the camera, also identify the target object. Finally, verification experiments are conducted on an indoor water tank and outdoor swimming pool condition to verify the effectiveness of the proposed in this thesis. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This thesis is mainly to realize the stable motion control of a single robot and use experiments and simulations to verify the effectiveness of the stability control system. Also, a control system of the uncertain moving obstacle avoidance in 3D arbitrary path planning for the SUR was proposed. Then, this thesis design control strategies for multiple spherical underwater robots with communication and collaboration. In this strategy, collaboration localization, as well as collaboration tracking, are implemented. Simulations and underwater experiments were carried out to demonstrate the feasibility of this collaboration between multiple spherical underwater robots. Finally, achieve the collaboration task planning that acquisition and identification of underwater target object, also, carry out the performance evaluation. | |||||||||||
| 言語 | en | |||||||||||
| 学位名 | ||||||||||||
| 言語 | ja | |||||||||||
| 学位名 | 博士（工学） | |||||||||||
| 学位授与機関 | ||||||||||||
| 識別子Scheme | kakenhi | |||||||||||
| 識別子 | 16201 | |||||||||||
| 言語 | ja | |||||||||||
| 機関名 | 香川大学 | |||||||||||
| 言語 | en | |||||||||||
| 機関名 | Kagawa University | |||||||||||
| 学位授与年月日 | ||||||||||||
| 学位授与年月日 | 2022-03-24 | |||||||||||
| 学位授与番号 | ||||||||||||
| 学位授与番号 | 甲第161号 | |||||||||||
| 権利 | ||||||||||||
| 言語 | en | |||||||||||
| 権利情報 | © Copyright by Ruochen An, 2022 All rights reserved. | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
