Fully-actuated autonomous underwater vehicle structure and recovery three-dimensional path trac method
An underwater robot and path tracking technology, applied in underwater operation equipment, three-dimensional position/channel control, instruments, etc., can solve problems such as chattering problems that are difficult to eliminate, fuzzy controller parameters are difficult, and tracking accuracy is poor.
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[0067] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0068] Such as figure 1 As shown, the structure of the fully driven autonomous underwater robot includes five parts: bow section 2, bow propulsion section 7, electronic cabin section 12, stern propulsion section 15 and main propulsion section 18; The bow propulsion section 7, the bow propulsion section 7 and the electronic compartment section 12, the electronic compartment section 12 and the stern propulsion section 15, and the stern propulsion section 15 and the main propulsion section 18 are concentrically sealed and connected; the bow section 2 includes a detector 1 , the collision avoidance sonar 4 and the bow section shell 3, the detector 1 is installed on the front of the bow section 2 through sealing, the collision avoidance sonar 4 is installed on the upper part of the bow section 2 through a watertight connector, and the bow section sh...
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