自主水下机器人的动态配置

2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI:10.1109/MED48518.2020.9183057

Huu-Tho Dang, L. Lapierre, R. Zapata, P. Lépinay, Benoit Ropars

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引用次数: 0

摘要

提出了一种具有动态驱动结构的自主水下航行器。AUV能够在其任务期间在线修改其配置(在每个采样时间)。介绍了一种基于类能准则的动态构型优化方法。仿真结果证明了驱动结构动态管理的有效性。

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Dynamic Configuration for an Autonomous Underwater Robot

This paper presents an Autonomous Underwater Vehicle (AUV) with a dynamic configuration of its actuation. The AUV is able to modify its configuration online (at each sampling time) during its missions. A procedure to optimize the dynamic configuration with respect to energy-like criterion is introduced. The simulation results are shown to prove the efficiency of a dynamic management of the actuation configuration.

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2020 28th Mediterranean Conference on Control and Automation (MED)

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