爬游无人潜水器导航控制系统设计

深海爬游无人潜水器是一种既可在深海巡游，又可在海底爬行的新型深海无人潜水器。针对爬游潜水器水中巡游和海底爬行作业的任务需求，以及控制系统通信量大、管理设备多、数据处理量大、工况复杂等问题，提出了“上层导航控制+下层运动控制”两层控制结构的思想，设计了以PC104嵌入式计算机为硬件平台，以实时多任务操作系统VxWorks为软件平台的爬游无人潜水器嵌入式导航控制系统。在实现多任务调度、通信管理、数据采集存储等功能的基础上，完成了导航避障决策仿真实验，验证了潜水器导航控制系统的控制效果。

Navigation and Control System Design of the Deep-Sea Crawling and Sailing Hexapod Robot

The deep-sea crawling and sailing hexapod robot is a new type of deep-sea unmanned submersible that can patrol in the deep sea and crawl on the sea bottom. In view of the task demand of water cruising and seabed crawling, as well as the problems of large communication capacity, many management equipment, large amount of data processing and complex working conditions, the idea of "upper navigation control + lower motion control" control structure is proposed, and the PC104 embedded computer is designed as the hardware flat. The embedded navigation and control system of crawl unmanned submersible based on real-time multitask operation system VxWorks. On the basis of multi task scheduling, communication management and data acquisition and storage, the simulation experiment of navigation obstacle avoidance decision is completed, and the control effect of the navigation and control system of the submersible is verified.