Turning control of a tuna-like BAUV for a minimum turning radius | |
Du, Sheng1,4; Yu, Junzhi1,3; Wu, Zhengxing1,4; Chen, Di1,4; Wang, Ming2 | |
2021 | |
会议日期 | 2021-7 |
会议地点 | Shanghai, China |
关键词 | Turning control biologically-inspired autonomous underwater vehicles tuna-like robot |
英文摘要 | In order to break the bottleneck of conventional autonomous underwater vehicles (AUVs), biologically-inspired AUVs (BAUVs) have drawn great attention. This paper explores the turning control issue of a tuna-like BAUV with the purpose of seeking a minimum turning radius. Specifically, for better understanding of the turning motion, a dynamical model is established and the force acting on the tail fin is taken as the main source. Because of the complex nonlinear relationship and physical restrictions, it is hard to optimize the turning radius directly. To tackle with this problem, the input signals of joints are generated by sine function so as to satisfy physical constraints, and simulations under different parameter combinations are conducted. Furthermore, a fixed tail joint method and a half-cycle flapping method are chosen and compared in an indoor pool. Finally, the experimental results verify the effectiveness of proposed methods, and a minimum turning radius of the tuna-like BAUV is achieved as small as 0.37 body lengths. |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/44717] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China 3.Dept. Adv. Manuf. Robot., BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China 4.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Du, Sheng,Yu, Junzhi,Wu, Zhengxing,et al. Turning control of a tuna-like BAUV for a minimum turning radius[C]. 见:. Shanghai, China. 2021-7. |
个性服务 |
查看访问统计 |
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