| 无舵翼水下机器人路径跟踪控制研究 |
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| 引用本文： | 甘永,万磊,陆雯雯,庞永杰.无舵翼水下机器人路径跟踪控制研究[J].海洋工程,2007,25(1):70-75. |
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| 作者姓名： | 甘永 万磊 陆雯雯 庞永杰 |
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| 作者单位： | 哈尔滨工程大学,船舶工程学院海洋工程中心,黑龙江,哈尔滨,150001 |
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| 摘 要： | 针对无舵翼水下机器人的各种不同任务要求下的路径跟踪控制进行研究。通过模拟人的运动行为,建立了虚拟避碰声纳模型。根据地形跟踪的方法提出基于虚拟声纳的路径跟踪控制方法,并通过考虑纵向速度对于其他各个自由度运动的影响设计了运动控制器。通过海上试验验证了所提出的路径跟踪控制方法对于无舵翼水下机器人是可以满足实际需要的。
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| 关 键 词： | 无舵翼水下机器人 路径跟踪 虚拟声纳 运动控制 |
| 文章编号： | 1005-9865（2007）01-0070-06 |
| 修稿时间： | 2005-12-12 |
Research on path following of underwater vehicle without rudder and fin |
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| GAN Yong,WAN Lei,LU Wen-wen,PANG Yong-jie.Research on path following of underwater vehicle without rudder and fin[J].Ocean Engineering,2007,25(1):70-75. |
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| Authors: | GAN Yong WAN Lei LU Wen-wen PANG Yong-jie |
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| Institution: | Department of Naval Architecture and Ocean Engineering, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | Research on the path following control of underwater vehicle without rudder and fin is done considering different tasks.A path following method is introduced with virtual sonar's model which originates from the behavior of human beings.By considering the longitudinal velocity coupling effects on the other dimensions of the underwater vehicle,a motion controller is presented.Experiments are conducted in sea to demonstrate that the presented path following control method can satisfy the requirements of underwater vehicles without rudder and fin. |
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| Keywords: | underwater vehicle without rudder and fin path following virtual sonar modified S controller |
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