| 超小型水下机器人改进设计及智能控制系统 |
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| 引用本文： | 宋鑫,叶家玮,梁富林,陈远明. 超小型水下机器人改进设计及智能控制系统[J]. 机器人, 2007, 29(6): 0-600 |
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| 作者姓名： | 宋鑫 叶家玮 梁富林 陈远明 |
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| 作者单位： | 华南理工大学船舶与海洋工程系,广东,广州,510640 |
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| 摘 要： | 基于目前部分超小型水下机器人的机械不足之处，提出简单易行的改进方案。提出包含智能闭环控制算法的软件设计框架，使超小型水下机器人具有更强的鲁棒性, 灵活性及适应性。在具有复杂流场干扰的实验环境测试下，改进型超小型水下机器人具有明显的优势。
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| 关 键 词： | 超小型水下机器人 智能控制 |
| 文章编号： | 1002-0446（2007）06-0596-05 |
| 收稿时间： | 2007-03-15 |
| 修稿时间： | 2007-03-15 |
Improved Design of Super-Mini Underwater Robot and Its Intelligent Control System |
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| SONG Xin,YE Jia-wei,LIANG Fu-lin,CHEN Yuan-ming. Improved Design of Super-Mini Underwater Robot and Its Intelligent Control System[J]. Robot, 2007, 29(6): 0-600 |
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| Authors: | SONG Xin YE Jia-wei LIANG Fu-lin CHEN Yuan-ming |
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| Affiliation: | Department of Naval Architecture and Ocean Engineering, South China University of Technology, Guangzhou 510640, China |
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| Abstract: | An easy and applicable improved mechanical design is suggested to solve the mechanical disadvantages of some types of the present super-mini underwater robots.A new software design framework including the intelligent closed-loop control algorithm is proposed to make the super-mini underwater robot more robust,flexible,and adaptive.In the experimental environment with complex flow field disturbances,the improved super-mini underwater robot exhibits apparent advantages. |
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| Keywords: | super-mini underwater robot intelligent control |
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