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便携式自主水下机器人控制系统研究与应用
Alternative TitleResearch and Application of the Control System for a Portable Autonomous Underwater Vehicle
曾俊宝; 李硕; 李一平; 王晓辉; 阎述学
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2016
Volume38Issue:1Pages:91-97
Indexed ByEI ; CSCD
EI Accession number20161502227405
CSCD IDCSCD:5638241
Contribution Rank1
Funding Organization国家863 计划(2011AA09A105)
Keyword便携式auv 控制系统 X形舵 运动控制
Abstract针对50公斤级便携式自主水下机器人(AUV)的开发和研究,介绍了一种采用多种通信方式的分布式便携式AUV控制系统.着重推导和阐述了控制系统中X形舵与十字形舵之间的等效关系,并对水平面与垂直面的运动控制方法进行了说明.通过大量湖上和海上试验验证了所述方案和方法的合理性,并得到了满意的实际航行结果.
Other AbstractIn order to study and develop a 50 kg portable AUV (autonomous underwater vehicle), a distributed control system with multiple communication modes is presented. The equivalent relationship between X-shaped sternplane and cross sternplane in the control system is derived and explained, and the horizontal and vertical motion control methods are described. Finally, the rationality of the presented control system solution and control method is verified by a large number of lake and sea trials, and a good navigation performance of the portable AUV is shown.
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17709
Collection水下机器人研究室
Corresponding Author曾俊宝
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
曾俊宝,李硕,李一平,等. 便携式自主水下机器人控制系统研究与应用[J]. 机器人,2016,38(1):91-97.
APA 曾俊宝,李硕,李一平,王晓辉,&阎述学.(2016).便携式自主水下机器人控制系统研究与应用.机器人,38(1),91-97.
MLA 曾俊宝,et al."便携式自主水下机器人控制系统研究与应用".机器人 38.1(2016):91-97.
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