Open AccessSliding control method of marine ecological protection robot
Author(s) -
Song Zhang
Publication year - 2021
Publication title -
thermal science/thermal science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.339
H-Index - 43
eISSN - 2334-7163
pISSN - 0354-9836
DOI - 10.2298/tsci2106043s
Subject(s) - robot , computer science , process (computing) , dynamic positioning , position (finance) , obstacle , tracking (education) , control (management) , obstacle avoidance , motion planning , mobile robot , environmental science , artificial intelligence , engineering , marine engineering , geography , business , psychology , pedagogy , archaeology , finance , operating system
In order to solve the problem of low control accuracy of the marine ecological protection robot in the route planning process during positioning, a new sliding control method is proposed. First, obtain the position information of the marine ecological protection robot, use the dynamic information measurement method to process the dynamic information, and extract the position tracking information. According to the needs of dynamic positioning and target path tracking, combined with the robot sliding control method, the global positioning of the marine ecological protection robot is designed. Experiments show that this method has high positioning accuracy for marine ecological protection robots, small positioning errors, good obstacle avoidance performance and strong dynamic positioning control capabilities.