Dang Tho, Lapierre Lionel, Zapata Rene, Ropars Benoit, Lepinay Pascal
Laboratory of Informatics, Robotics and MicroElectronics (LIRMM) (UMR 5506 CNRS-UM), Université Montpellier, 161 rue Ada, CEDEX 5, 34392 Montpellier, France.
Reeds Company, 199 rue Hélène Boucher, 34170 Castelnau-Le-Lez, France.
Sensors (Basel). 2021 Nov 20;21(22):7729. doi: 10.3390/s21227729.
In general, for the configuration designs of underwater robots, the positions and directions of actuators (i.e., thrusters) are given and installed in conventional ways (known points, vertically, horizontally). This yields limitations for the capability of robots and does not optimize the robot's resources such as energy, reactivity, and versatility, especially when the robots operate in confined environments. In order to optimize the configuration designs in the underwater robot field focusing on over-actuated systems, in the paper, performance indices (manipulability, energetic, reactive, and robustness indices) are introduced. The multi-objective optimization problem was formulated and analyzed. To deal with different objectives with different units, the goal-attainment method, which can avoid the difficulty of choosing a weighting vector to obtain a good balance among these objectives, was selected to solve the problem. A solution design procedure is proposed and discussed. The efficiency of the proposed method was proven by simulations and experimental results.
一般来说，对于水下机器人的构型设计，执行器（即推进器）的位置和方向是给定的，并以传统方式（已知点、垂直、水平）安装。这对机器人的能力产生了限制，并且没有优化机器人的资源，如能量、反应性和通用性，特别是当机器人在受限环境中运行时。为了优化专注于过驱动系统的水下机器人领域的构型设计，本文引入了性能指标（可操作性、能量、反应性和鲁棒性指标）。对多目标优化问题进行了公式化和分析。为了处理具有不同单位的不同目标，选择了可以避免选择加权向量以在这些目标之间获得良好平衡的困难的目标达成方法来解决该问题。提出并讨论了一种解决方案设计程序。通过仿真和实验结果证明了所提方法的有效性。
