无缆自治水下机器人控制方法研究

RESEARCH ON UNTETHERED AUTONOMOUS UNDERWATER VEHICLE CONTROL METHOD

摘要: 以成功研制的无缆自治水下机器人（AUV）为基础，对其航行控制和定位控制方法进行了较详细的分析．同时介绍了它的推进器布置、控制系统结构、推力分配等方法．最后展示了它的运行实验结果．

Abstract: Based on the untethered AUV developed by our institute,this paper analyzes the navigation control and the position control methods of AUV. Meanwhile,the thruster arrangement,the control system configuration, and the thrusting force distribution of the AUV are introduced. Finally,its operating results are given.