舵桨联合操纵微小型水下机器人的开发  

Development of a Small Autonomous Underwater Vehicle Controlled by Thrusters and Fins

作　　者：苏玉民 万磊 李晔 庞永杰 秦再白 

机构地区：[1]哈尔滨工程大学水下机器人实验室,黑龙江哈尔滨150001

出　　处：《机器人》2007年第2期151-154,共4页Robot

摘　　要：介绍了一种舵桨联合操纵的微小型水下机器人.该机器人装有左右布置的两个主推进器、可调攻角水平舵和垂直稳定翼.配合所搭载的深度计、磁罗经等传感器和控制计算机,可实现水下定深定向航行,并可由TV和声纳探测水下目标.其航行与探测能力得到了试验验证.A small autonomous underwater vehicle controlled by thrusters and fins is introduced. This vehicle is equipped with two thrusters arranged at two sides, and several adjustable horizontal fins and vertical stable fins. Combined with depth gauge, magnetic compass and control computer, the vehicle can be controlled to navigate in a certain direction and at certain depth. It can detect the underwater targets by TV and sonar. Its abilities for voyage and detection have been confirmed by tests.

关 键 词：微小型水下机器人 实验研究 操纵性能 探测 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]