为仿生机械海豚设计水下路径跟踪系统并验证其控制效果。
Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator
- 基于多连杆结构设计路径跟踪控制算法。
- 通过水下仿真确定参数并验证控制方法有效性。
- 适合仿生水下机器人路径控制研究者参考。
具有多连杆结构的仿生自主水下航行器（BAUV）因低功耗和高机动性，广泛应用于水生生物观测与环境调查。环境监测需要能够自动追踪特定点的路径跟随系统，但现有BAUV的路径跟随系统尚不完善，且针对多连杆机构机器人的评估仍不明确。由于不同仿生类型导致模型差异，BAUV的路径跟随系统需依赖前期仿真。本文提出一种适用于多连杆结构BAUV的路径跟随系统，并在水下仿真环境中进行评估。结果表明，可设计出适配于该类机器人的路径跟随系统，利用仿真工具确定关键参数，并有效评估不同控制方法的性能。
原文摘要 · Abstract (English)
Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a path following system that automatically follows specific points. However, the path following system of BAUV is limited, and its evaluation with multi-link mechanism robots has not yet been clarified. The path following system in BAUV requires prior simulation because the model differs depending on the type of biomimetics. In this study, we propose a path following system for BAUVs with a multi-link mechanism and evaluation in underwater simulation. In this result, it was possible to design a path following system suitable for BAUV, determine parameters using a simulator, and evaluate control methods.
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