苏玉民, 万磊, 李晔, 庞永杰, 秦再白. 舵桨联合操纵微小型水下机器人的开发[J]. 机器人, 2007, 29(2): 151-154.
引用本文: 苏玉民, 万磊, 李晔, 庞永杰, 秦再白. 舵桨联合操纵微小型水下机器人的开发[J]. 机器人, 2007, 29(2): 151-154.
SU Yu-min, WAN Lei, LI Ye, PANG Yong-jie, QIN Zai-bai. Development of a Small Autonomous Underwater Vehicle Controlled by Thrusters and Fins[J]. ROBOT, 2007, 29(2): 151-154.
Citation: SU Yu-min, WAN Lei, LI Ye, PANG Yong-jie, QIN Zai-bai. Development of a Small Autonomous Underwater Vehicle Controlled by Thrusters and Fins[J]. ROBOT, 2007, 29(2): 151-154.

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

  • 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.

     

    Abstract: A small autonomous underwates 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.

     

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