Underwater robot three-dimensional path visual tracking method
An underwater robot, path tracking technology, applied in three-dimensional position/channel control and other directions, can solve the problems of ignoring the underactuated AUV steering characteristics, single target output action, affecting tracking accuracy, etc.
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[0076] Specific embodiment one:
[0077] according to figure 1 As shown, this application provides a three-dimensional path visualization tracking method of an underwater robot, which includes the following steps:
[0078] A three-dimensional path visualization tracking method of an underwater robot includes the following steps:
[0079] Step 1: Establish a geodetic coordinate system, a carrier coordinate system and a curvilinear coordinate system, and establish a six-degree-of-freedom model of the underwater robot according to the coordinate system;
[0080] The step 1 is specifically:
[0081] Such as figure 2 As shown, step 1.1: establish a geodetic coordinate system {I}, the geodetic coordinate system is a point on sea level, the positive direction of the ξ axis in the geodetic coordinate system is the same as the main heading of the underwater robot AUV, and the ζ axis points to the center , Ξ axis, η axis and ζ axis constitute a right-handed coordinate system;
[0082] Establish...
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