SIA OpenIR  > 水下机器人研究室
Alternative TitleMarine environment self-recognition track accurate tracking method of autonomous underwater vehicle
王轶群; 赵宏宇; 徐春晖; 刘健; 邵刚
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to the technical field of underwater vehicles, specifically relates to a track accurate tracking method of an autonomous vehicle, and accurate track tracking control in the variable marine environment of the autonomous underwater vehicle is realized. The method includes following steps: marine environmental parameter recognition: calculating the projection of the current velocity value in the vertical direction of the underwater vehicle; and track tracking: calculating the horizontal plane course-changing torque of the underwater vehicle via the calculation of the transverse distance between the underwater vehicle and a planned track and the deviation value of the course angle of the underwater vehicle and a planned track angle with the combination of the bottom forward speed of the underwater vehicle and the course-changing angle speed of the underwater vehicle. Compared with the conventional control method, the robustness is better, the tracking method can better adapt to the changes of the external environment and self parameters of the AUV, the control capability of the AUV is improved, and the transplant of the method is convenient and can be applied to various underwater vehicles.
PCT Attributes
Application Date2014-10-30
Date Available2018-04-17
Application NumberCN201410598859.7
Open (Notice) NumberCN105549611A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
王轶群,赵宏宇,徐春晖,等. 自主水下机器人的海洋环境自识别的航迹精确跟踪方法[P]. 2016-05-04.
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