基于多auv编队的温跃层跟踪研究

Proceedings of the 3rd International Conference on Mechatronics Engineering and Information Technology (ICMEIT 2019) Pub Date : 2019-04-01 DOI:10.2991/ICMEIT-19.2019.19

Zhen Li, Yiping Li

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引用次数: 0

摘要

温跃层对海洋科学研究具有重要意义。多自主水下航行器(auv)在海洋观测中具有单自主水下航行器的巨大优势。为了解决多AUV的温跃层跟踪问题，首先提出了一种基于卡尔曼滤波估计算法的AUV温跃层跟踪方法。然后，采用H∞鲁棒控制方法设计了基于状态反馈的水下机器人运动控制器。最后，提出了一种多auv编队垂直分布的温跃层跟踪方法，并在仿真环境中进行了实现。

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Research on Thermocline Tracking based on Multi-AUVs Formation

Thermocline is of great significance to marine scientific research. Multi-autonomous underwater vehicles (AUVs) have great advantages over single autonomous underwater vehicle in ocean observation. In order to solve the multi-AUVs for Thermocline tracking problem, firstly, an AUV thermocline tracking method is proposed based on Kalman filter estimation algorithm. Then, an AUV motion controller based on state feedback is designed by using H∞ robust control method. Finally, a thermocline tracking method with vertical distribution of multi-AUVs formation is proposed and implemented in simulation environment.

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Proceedings of the 3rd International Conference on Mechatronics Engineering and Information Technology (ICMEIT 2019)

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