机器人Issue(1)：91-97,7.DOI:10.13973/j.cnki.robot.2016.0091
便携式自主水下机器人控制系统研究与应用
Research and Application of the Control System for a Portable Autonomous Underwater Vehicle
摘要
Abstract
In 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.关键词
便携式AUV/控制系统/X形舵/运动控制Key words
portable AUV (autonomous underwater vehicle)/control system/X sternplane/motion control分类
信息技术与安全科学引用本文复制引用
曾俊宝,李硕,李一平,王晓辉,阎述学..便携式自主水下机器人控制系统研究与应用[J].机器人,2016,(1):91-97,7.基金项目
国家863计划（2011AA09A105）． （）
