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专利名称: 一种AUV自主寻底控制方法
其他题名: Autonomous underwater vehicle (AUV) autonomous bottom search control method
作者: 刘铁军; 王飞; 刘健
所属部门: 水下机器人研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明
专利状态: 公开
摘要: 本发明公开一种AUV自主寻底控制方法,该发明适用于水下无人无缆潜器(AUV)在下潜过程中的寻底控制。该发明将载体下潜过程分解为无动力下潜和动力下潜两个阶段,并通过多个传感器数据的融合,实现载体安全到达在预定的高度并顺利进入探测作业。本发明操作简单,安全实用,可有效实现AUV在下潜过程中的寻底任务,提高了AUV系统实际应用的可靠性。
英文摘要: The invention discloses an autonomous underwater vehicle (AUV) autonomous bottom search control method which is suitable for the bottom search control during a diving process of an AUV. By the control method disclosed by the invention, the diving process of a vehicle is divided into power-free diving and powered diving; through the data fusion of a plurality of sensors, the vehicle reaches to a predetermined height safely and performs detection operation smoothly. The AUV autonomous bottom search control method disclosed by the invention is simple in operation, safe and practical; a bottom search task during the diving process of the AUV can be effectively realized; and the reliability of the practical use of an AUV system is improved.
是否PCT专利:
申请日期: 2013-11-27
公开日期: 2015-06-03
专利申请号: CN201310618964.8
公布/公告号: CN104679008A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/16089
Appears in Collections:水下机器人研究室_专利

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Recommended Citation:
刘铁军,王飞,刘健. 一种AUV自主寻底控制方法. CN104679008A. 2015.
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