控制和引导悬停的AUV向上或向下俯仰

2012 Oceans Pub Date : 2012-10-01 DOI:10.1109/OCEANS.2012.6405081

B. Ferreira, J. Jouffroy, A. Matos, N. Cruz

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引用次数: 15

摘要

在本文中，我们提出了一种控制自主水下航行器的垂直和水平面的方法，同时俯仰向下或向上(θ =±π/2)。这种能力在MARES中进行了探索，MARES是一种小型的四自由度鱼雷形悬停AUV。在滚转角度不可控制的情况下，我们找到了一种使飞行器在保持垂直位置的同时到达水平面任意点的制导律。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control and guidance of a hovering AUV pitching up or down

In this paper, we present an approach to control an autonomous underwater vehicle in the vertical and the horizontal planes while pitching down or up (θ = ±π/2). Such a capability is explored in MARES, a small-sized, torpedo-shaped hovering AUV with four degrees of freedom. Despite the fact that roll angle is not controllable, we find a guidance law that makes the vehicle reach any point in the horizontal plane while maintaining the vehicle in the vertical position.

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来源期刊

2012 Oceans

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