高速无舵翼水下机器人运动控制研究

通过改进传统水下机器人体系结构中的执行层、控制层和感知层,提出了无舵翼水下机器人的运动控制系统,使得水下机器人的运动控制系统在保持原有精确定位的功能外,也能完成远距离高速航行等任务.具体的改变包括执行层中的推进器布置方式以及推力分配方案、控制层中的控制方法以及在感知层中加入局部目标规划器,这些改变解决了高速航行给无舵翼水下机器人带来的一系列问题.海上进行的对比试验和远距离长航试验,验证了无舵翼水下机器人在所提出的运动控制系统控制下是可以满足任务要求的.

Research on motion control of high-speed underwater vehicles without rudder and wing

A motion control system for high-speed underwater vehicles without rudder and wing is presented in the paper by modifying the executive, control and perception layer of the system architecture of traditional underwater vehicles. The new system can finish tasks such as long distance and high speed voyage while the dynamic positioning function is reserved. By adjusting the deployment and thrust allocation of thrusters in the executive layer, the control method in the control layer and adding local planner in the perception layer, the control system can solve problems caused by high speed. A lot of experiments including comparison tests and long distance tests are conducted in sea. The experiments show that high-speed underwater vehicles without rudder and wing the presented control system controlled can meet the requirements of tasks.