ZENG Junbao, LI Shuo, LI Yiping, WANG Xiaohui, YAN Shuxue. Research and Application of the Control Systemfor a Portable Autonomous Underwater Vehicle[J]. ROBOT, 2016, 38(1): 91-97. DOI: 10.13973/j.cnki.robot.2016.0091
Citation: ZENG Junbao, LI Shuo, LI Yiping, WANG Xiaohui, YAN Shuxue. Research and Application of the Control Systemfor a Portable Autonomous Underwater Vehicle[J]. ROBOT, 2016, 38(1): 91-97. DOI: 10.13973/j.cnki.robot.2016.0091

Research and Application of the Control Systemfor a Portable Autonomous Underwater Vehicle

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  • Received Date: August 25, 2015
  • Revised Date: October 19, 2015
  • Available Online: October 26, 2022
  • Published Date: January 19, 2016
  • In order to study and develop a 50 kg portable AUV (autonomous underwater vehicle), a distributed control system with multiple communication modes is presented. The equivalent relationship between X-shaped sternplane and cross sternplane in the control system is derived and explained, and the horizontal and vertical motion control methods are described. Finally, the rationality of the presented control system solution and control method is verified by a large number of lake and sea trials, and a good navigation performance of the portable AUV is shown.
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