Research On Coordinated Planning & Control Of Autonomous Underwater Pipeline Inspection Robots

The Autonomous Underwater Vehicle-Manipulator Systems(AUVMS)is a new tool for ocean exploration and development.In this dissertation,the coordinated planning and control of autonomous underwater pipeline inspection robots are addressed,an AUVMS experimental platform is set up,and cutting-edge research on the coordinated planning and control of AUVMS is conducted.The dissertation is composed of seven chapters,they are summarized as follows:Chapter 1:Current research progress and main problems of underwater pipeline inspection tasks are analyzed after a complete literature research.Then the application scenario and development history of AUVMS system are summarized,and related projects are investigated.An intensive literature research on AUVMS motion planning and motion control are given in this chapter.Finally,the research significance,difficulties and main contents of this paper are clarified.Chapter2:The subsystems and related parameters of the AUVMS system built in the project are demonstrated.The kinematics model and the dynamic model under the influence of hydrodynamic forces were established based on the actual parameters.At the same time,a visualized simulation model on the MATLAB/Simulink platform is built.Chapter3:AUVMS has the property of high dimension,a large difference in inertia distribution,also it works in a complex environment with obstacles,the trajectory planning and path planning are studied here.With the help of the AUVMS kinematic model and dynamic model,the RRTAUVMS algorithm is proposed,compared with the traditional rapidly-exploring random tree algorithm,the efficiency of the proposed planning method can be significantly improved.Chapter4:For tracking control of the AUV with complex hydrodynamic disturbance,the algorithm based on nonlinear disturbance observer is studied.This algorithm can effectively estimate the lumped disturbance,and the advantages of the proposed method are verified by simulation and experiments.Chapter5:The underwater manipulator control issues are studied.Parameter uncertainties and hard nonlinearity terms will influence the control precision of manipulator,an algorithm based on the delay estimation is used to compensate the external disturbances and parameter variation,and this algorithm will improve the control performance of the system.An algorithm for contour tracking control in task space is proposed.The stability of the proposed algorithm is proved by Lyapunov stability principle.The validity of the two methods was verified by simulation and experiment.Chapter6:The AUVMS coordinated motion planning and control algorithms are effectively combined to realize integrated planning and control strategy,and the strategy is verified by simulation and tank experiments.Chapter7:The core work and innovation of the thesis are summarized,and the further research works are proposed in the view of engineering and frontier research.