基于水下环境样品采集的水下机器人运动控制策略研究及其展望  

Development and Prospect of Motion Control Strategy of Underwater Vehicle Based on Water Sample

作　　者：刘金生[1] 

机构地区：[1]核技术应用教育部工程研究中心、东华理工大学,江西南昌330013

出　　处：《机床与液压》2015年第5期156-159,147,共5页Machine Tool & Hydraulics

基　　金：核技术应用教育部工程中心开放基金项目(HJSJYB2011-09);江西省教育厅科技项目(GJJ13466);机器人学国家重点实验室项目(2012-08);国家自然科学基金资助项目(51009016)

摘　　要：探讨了基于水下环境样品采集的水下机器人系统的运动控制问题,对其运动控制模型特点以及运动控制策略进行了概括总结。根据水下环境样品采集任务的发展要求,对水下机器人系统运动控制策略发展趋势进行了归纳。随着水下环境样品采集质量的提高,指出发挥智能控制算法在水下机器人系统外场试验中的应用价值,是水下机器人系统在复杂环境中高效率完成水下环境样品采集任务的关键。The problems of the motion control of Underwater Vehicle system which works for the underwater task of water sample were investigated. Correspondingly,some controllers were discussed and generalized based on these characters of motion control model.The development trend of controllers for the motion control strategy of Underwater Vehicle system was concluded according to the development demand of tasks of the water sample underwater. Along with being higher quality to samples with efficient completing the task,it is pointed out that to explore the advantages of intelligent controllers for Underwater Vehicle motions in the field trials has practical values,and is the key for successfully completing the underwater task of water sample in complex conditions.

关 键 词：水下环境样品采集 无人水下机器人 运动控制模型 智能控制算法 

分 类 号：TP206.1[自动化与计算机技术—检测技术与自动化装置]