仿生金枪鱼巡游和机动控制研究 | |
杜晟![]() | |
2021-05-26 | |
页数 | 136 |
学位类型 | 博士 |
中文摘要 | 海洋是生命起源之地,同时蕴藏有丰富的资源。在开发利用海洋资源的同时保护其生态环境免遭破坏,不单是可持续发展的需要,更是关系到人类自身的生存。常规螺旋桨推进的水下航行器容易给海洋生物造成伤害,而仿生型水下航行器能在保护海洋生态环境的同时完成探索作业,其研究和应用具有重大的科学价值和现实意义。 |
英文摘要 | As the cradle of life, the immense ocean is rich in resources. However, not only the sustainable development of ocean but also the survival of humanity, needs the protection of the ecological environment. Conventional propeller-driven underwater vehicles are likely to hurt marine organisms, and by contract, the bionic underwater vehicle can complete the task with no damage to others. Hence, the research and application of bionic underwater robots have great scientific value and practical significance. Fourthly, the research of fixed-speed cruise problem is carried out from two aspects: cruising and fixed-speed control. For the cruise, the path planning problem is converted into finding critical path points, due to the dynamic characteristics of bionic tuna. And then an improved A* algorithm modified by Bresenham algorithm is proposed to implement path planning. It performs well in the scenario of sparse obstacles, and can meet the requirements of real-time planning. Next, in order to track a straight line, a path tracking method inspired by line-of-sight (LOS) navigation and sliding mode control (SMC) is proposed. By using the cross-track error and the angle of given line to construct the reference head angle, the control of linear path tracking is substantially simplified. For the requirement of a fixed-speed, an estimation of the oscillation frequency for tracking the given path is presented. Finally, combining the path tracking algorithm and the speed control method, a strategy for the cruise control task is proposed. The simulation results reveal that it can make the bionic tuna reach the destination exactly in a given time. |
关键词 | 仿生机器鱼 金枪鱼 运动控制 路径规划 路径跟踪 |
语种 | 中文 |
七大方向——子方向分类 | 智能机器人 |
文献类型 | 学位论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44713 |
专题 | 毕业生_博士学位论文 |
推荐引用方式 GB/T 7714 | 杜晟. 仿生金枪鱼巡游和机动控制研究[D]. 北京. 中国科学院大学,2021. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
毕业论文.pdf(9091KB) | 学位论文 | 限制开放 | CC BY-NC-SA |
个性服务 |
推荐该条目 |
保存到收藏夹 |
查看访问统计 |
导出为Endnote文件 |
谷歌学术 |
谷歌学术中相似的文章 |
[杜晟]的文章 |
百度学术 |
百度学术中相似的文章 |
[杜晟]的文章 |
必应学术 |
必应学术中相似的文章 |
[杜晟]的文章 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论