自主式水下机器人试验平台研制与实验研究

为了进行自主式水下机器人智能行为的研究，自行研制了“海狸”水下机器人试验平台．介绍了“海狸”水下机器人的系统结构，在分析推进器性能的基础上，通过数字罗盘、加速度计以及深度计等传感器获得的运行速度、角速度等位姿信息，建立了水下机器人前向运动模型，进行了水下机器人运动控制与状态监测系统的实验研究．水池实验结果表明，“海狸”水下机器人可实现自主式水下机器人的基本运动控制，所建立的水下机器人前向运动模型能够描述水下机器人试验平台的动态行为，状态监测算法能够识别水下机器人的典型故障，从而验证了所提算法的有效性，同时也验证了作为水下机器人智能行为研究载体的试验平台的有效性和可行性．

Development and experiment of an autonomous underwater vehicle test-bed

An autonomous underwater vehicle(AUV) test-bed named "Beaver" is developed to establish the techniques that realize intelligent behaviors of AUV.This paper introduces the system structure of "Beaver" in details.And on the basis of analyzing propellers' performance,an AUV dynamical model is built with the signals of digital compass,3-axis accelerator and depth sensor.The motion control and condition monitoring algorithms are also programmed to realize autonomous motion control of the AUV.Tests in pool show that the dynamical model can character the dynamics of the AUV test-bed,the AUV typical faults can be distinguished from normal states,and the cost-effective test-bed for realizing intelligent behaviors is feasible.