基于机械胸鳍的水下机器人精密机动

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI:10.1109/UT.2004.1405588

N. Kato, Y. Ando, T. Shigetomi

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引用次数: 4

摘要

本文介绍了一种装有两对振荡鳍的水下机器人在水流中导引与控制的实验结果。在某些情况下，机器人可以从一个遥远的点被引导到一个水下哨所，并与它停靠在垂直于航道的水流中。该机器人还可以在水流中围绕圆柱体执行巡检任务，保持与圆柱体壁的距离，并在一定程度上将航向导向圆柱体中心

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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Precision maneuvering of underwater robot by mechanical pectoral fins

This paper describes the experimental results in the guidance and control of an underwater robot equipped with 2 pairs of the oscillating fins in water currents. The robot can be guided from a far point to an underwater post and docked with it in water currents flowing perpendicularly to the course under some circumstances. The robot also can perform an inspection task around a circular cylinder in water currents keeping the distance to the wall of the cylinder and directing the heading to the center of the cylinder to some extent

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来源期刊

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)

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