| 自主式水下机器人水下对接技术综述 |
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| 引用本文： | 姚金艺, 曾庆军, 赵强, 朱志宇, 戴文文. 全驱动型AUV三维路径跟踪控制系统设计及分析[J]. 中国舰船研究, 2019, 14(6): 22-29. DOI: 10.19693/j.issn.1673-3185.01520 |
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| 作者姓名： | 姚金艺 曾庆军 赵强 朱志宇 戴文文 |
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| 作者单位： | 1.江苏科技大学 电子信息学院, 江苏 镇江 212003 |
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| 基金项目： | 国防基础科研计划资助项目（JCKY2017414C002） |
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| 摘 要： | 目的 为满足全驱动型自主式水下机器人（AUV）水下搜救、回收及海底地貌成像等实际任务需求，研究全驱动型AUV三维路径跟踪控制应用的方法。 方法 阐述自主研发的
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| 关 键 词： | 自主式水下机器人 控制系统 三维路径跟踪 S面控制器 |
| 收稿时间： | 2019-01-23 |
Underwater docking of AUV with the dock and virtual simulation |
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| Yao Jinyi, Zeng Qingjun, Zhao Qiang, Zhu Zhiyu, Dai Wenwen. Design and analysis of fully-actuated AUV's three-dimensional path tracking control system[J]. Chinese Journal of Ship Research, 2019, 14(6): 22-29. DOI: 10.19693/j.issn.1673-3185.01520 |
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| Authors: | Yao Jinyi Zeng Qingjun Zhao Qiang Zhu Zhiyu Dai Wenwen |
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| Affiliation: | 1.School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China |
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| Abstract: | Objectives In order to meet the requirements of underwater search and rescue, recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle (AUV), the application method of its three-dimensional path tracking control is studied. Methods The composition of the self-developed fully-actuated |
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| Keywords: | Autonomous Underwater Vehicle(AUV) control system 3D path tracking S surface controller |
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