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.
|Keyword||仿生机器鱼 金枪鱼 运动控制 路径规划 路径跟踪|
|Sub direction classification||智能机器人|
|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.|
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