摘要
基于目前部分超小型水下机器人机械部分的不足之处,提出了简单易行的改进方案.给出了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中,改进型超小型水下机器人具有明显的优势.
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.
出处
《机器人》
EI
CSCD
北大核心
2007年第6期596-600,共5页
Robot
关键词
超小型水下机器人
智能控制
super-mini underwater robot
intelligent control
