Estimation System of Disturbance Force and Torque for Underwater Robot Based on Artificial Lateral Line

摘要

The motion-control precision of a shallow-sea underwater robot is seriously affected by external disturbances such as wind, waves and ocean currents. Due to the lack of a specialized disturbance-sensor system, the disturbance force and torque cannot be sensed effectively. Inspired by bionics, an artificial lateral-line system for estimating external disturbances of an underwater robot is presented in this paper. In the system, the pressure of water is first collected through the pressure-sensor array. Then, the pressure data is processed by a series of algorithms, and the disturbance force and torque are observed from the data. Both multiple linear regression and the artificial neural network method are used to fit the mathematical models of the disturbances. Finally, the system is validated experimentally to be effective and practical. The underwater robot senses the disturbance force and torque from the water indirectly through the artificial lateral-line system, which will improve the accuracy of motion control.