自主水下机器人

基于数字海图的自主水下机器人路径规划研究

Path Planning of AUV Based on Digital Charts

自主水下机器人（AUV）设计是一项复杂的系统工程，涉及多个学科领域。

The design of Autonomous Underwater Vehicle is a complicated project , which involves many disciplines .

水下环境探测与目标特征提取是自主水下机器人（AUV）领域中的核心问题，也是机器人学中人工智能应用研究的重要方面。

In the robotics , underwater environments detection and objects feature extraction are the kernels of the AUV research and the important parts of the artificial intelligence study .

本文的研究内容是基于前视声纳信息的自主水下机器人（AUV）局部规划技术，重点研究了基于遗传算法的AUV动目标规避。

The research content of this paper is planning technology of collision avoidance for Autonomous Underwater Vehicle ( AUV ) based on information of a forward looking sonar . The main technology of the research is collision avoidance to moving objects based on genetic arithmetic .

为了解决远程自主水下机器人（LAUV）路径规划问题，提出一种基于数字海图的路径规划算法。

To solve the problem of path planning of LAUV ( Long-distance Autonomous Underwater Vehicle ), a path planning algorithm based on digital charts is presented .

实时的检测自主水下机器人的状态，也为紧急情况处理模块提供了有利的数据参考，在分析了几种常用的电池后，采用了锂离子电池作为系统的主要能源供给方式。

Real-time detection states of the AUV provides a favorable reference to data emergency processing module . It used lithium ion battery after having analyzed several kind of commonly batteries .

微小型自主水下机器人因其成本、体积、灵活性等多方面优势，在民用、军用等各领域均具有广阔的应用前景。

Miniature Autonomous Underwater Vehicle ( AUV ) has a great prospect in both civilian use and military use due to its advantage of low-cost , small size , high performance and high practicability .

同时文章探讨了一种适用于自主水下机器人的电源管理设计，采用单片机及外围电路实时的对机器人中设备的电压、电流和温度等信息进行全程监控，在出现故障时可以迅速做出相应处理。

This paper presents an power management design for AUV , monitoring the robot device voltage , current and temperature information by real-time MCU and peripheral circuits . When the system has failure , it can process quickly .

海洋蕴藏着极其丰富的生物资源和矿产资源，随着海洋科技的发展，自主水下机器人已经成为海洋开发的重要工具，而它的回收是一个不可回避的问题。

The ocean has abundant biological resources and mineral resources , with the development of marine science and technology , autonomous underwater vehicle has been an important tool for ocean development , and its recovery is an unavoidable problem .

AUV（自主式水下机器人）是一种进行水下探测和海洋开发的重要工具。

Autonomous Underwater Vehicles is a kind of economical vehicle for detecting underwater and exploring ocean resource .

自主式水下机器人（AUV）系统是未来海洋探测和开发，以及完成各种水下智能作业任务的重要工具。

Autonomous underwater vehicle ( AUV ) is a very useful tool in exploring and utilizing resources in oceans .

近年来，自主式水下机器人（AUV）在海洋科学考察和军事领域中得到了广泛的应用。

In recent years , Autonomous Underwater Vehicle ( AUV ) is widely used in the field of marine scientific research and military .

其中自主式水下机器人（AUV）作为未来海洋探测开发的平台，有极其广阔的开发前景。

Thus the Autonomous Underwater Vehicle ( AUV ), which serves as a platform for marine exploration , will become a hot research field .

自主式水下机器人（AUV）的研究是我国海上国防与海洋开发战略的重要组成部分。

The research of the autonomous underwater vehicle is one of the most important parts of the naval national defence and ocean development stratagem .

自主式水下机器人（AUV）在海洋探测、资源开发中得到了广泛的应用，是当今机器人研究领域的热点之一。

Autonomous underwater vehicle ( AUV ), which is widely used in marine exploration and resource development , is a focus in the robotic research field today .

随着自主式水下机器人（AUV，Autonomousunderwatervehicle）在海洋科学考察和军事领域得到越来越广泛的应用。其运动控制算法及运动控制系统越来越受到人们的重视。

With the fact that Autonomous Underwater Vehicle ( AUV ) are more and more widely used in the field of marine scientific research and military , its motion control algorithm and motion control system have been paid significant attention to .

自主式水下机器人（AUV）作为重要的水下探测设备，对它的研究不仅有重要的经济意义，在军事领域也有迫切需要。

Autonomous Underwater Vehicle ( AUV ) is a kind of important underwater equipment . Its research has a profound economic meaning and is imminently needed because of military and politics reasons .

之后针对自主式水下机器人（AUV）在大范围静态环境完全未知或部分未知的情况，本文提出一种应用动态划分全局工作环境、以多次局部优化代替一次性全局优化的路径规划方法。

Then according to a large scale static unknown or partially unknown environment , this paper proposes a new path planning method which dynamically divides the global environment and uses multiple local optimizations instead of one-time global optimization .

自主式水下机器人（AUV）因其能在复杂的海底未知环境中实现自主航行，在海洋探测、海底救捞、资源开发等方面得到了广泛的应用，并有着广阔的发展前景。

Autonomous Underwater Vehicle ( AUV ), which can navigate autonomously in complex unknown undersea environment , has been widely applied in ocean exploration , submarine rescue , resource development and other fields . And AUV has broad development prospects .

自主式水下机器人数据采集与管理系统设计及其可靠性分析

Design and Reliability Analysis of Data Logging & Management System for AUV

自主式水下机器人推进器及舵状态监测研究

Research of Condition Monitoring for Propeller and Rudder of Autonomous Underwater Vehicle

自主式水下机器人的导航系统设计及算法研究

Autonomous Underwater Vehicle Navigation System Design and Algorithm Research

自主式水下机器人全局路径规划的基于案例的学习算法研究

AUV global path planning using case based learning algorithm

自主式水下机器人的路径规划与路径跟踪方法

Path Planning and Path Tracking for Autonomous Underwater Vehicles

自主式水下机器人运动规划技术

Technology of Motion Planning for Autonomous Underwater Vehicle

首次讨论了基于案例的学习方法在自主式水下机器人全局路径规划中的应用问题。

This paper presents an AUV global path planning scheme using case-based learning algorithm .

自主式水下机器人中数字电子罗盘的误差分析及校正

A Study on the Error Analysis and Calibration Technique of Digital Compass in Autonomous Underwater Vehicles

作为一类人工智能系统，自主式水下机器人必须具备高度的自主性、可靠性及海洋环境适应性，而确定一个合理完善的体系结构是实现水下机器人上述特征的关键。

As an artificial intelligence system , AUV has high independence , reliability and adaptability to ocean environment .

对接定位技术作为自主式水下机器人对接的关键技术之一，在自主式水下机器人的深度开发中发挥着重要作用。

Docking position , as a key technology of AUV , has been playing an important role in AUV researching deeply .

论文中首先简要介绍了自主式水下机器人和定位标图并行技术的研究内容和发展的现状以及本论文的研究背景；

Firstly , we give a summary of current development and the state of art of the worldwide AUVs research and construction .