水下机器人嵌入式基础运动控制系统

The Embedded Basic Motion Control System of Autonomous Underwater Vehicle

摘要: 从硬件和软件两方面详细地讨论了水下机器人嵌入式基础运动控制系统的体系结构，从根本上改变了以往水下机器人运动控制系统依靠上位机与下位机相结合的体系结构．同时详细阐述了水下机器人基础运动控制的整个信息流程．最后通过海上试验验证了整个基础运动控制系统的可行性和可靠性．

Abstract: The architecture of the AUV's embedded motion control system is presented from the viewpoint of the hardware and software, which is different from the traditional control system of the AUV. Meanwhile, the whole information flow of the motion control system is also discussed. Finally, the reliability and feasibility of the motion control system verified by sea trial is given.