中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
The development of a MOOS-IvP-based control system for a small autonomous underwater vehicle

文献类型:会议论文

作者Jia QY(贾庆勇); Xu HL(徐红丽); Chen G(陈巩)
出版日期2016
会议名称OCEANS 2016 - Shanghai
会议日期April 10-13, 2016
会议地点Shanghai, China
关键词MOOS-IvP Control System Small AUV
页码1-5
通讯作者贾庆勇
中文摘要This paper designed a control system of small autonomous underwater vehicle(AUV). A distributed control architecture that is MOOS-IvP is applied in this control system. Using this control architecture, there are distribute and modular characteristic in this control system. It comprises of the sensor module, the propulsion module, the fault detection module, the data log module, the device initialize module, the navigation module, the control module and the intelligent decision module. This control system can realize the constant depth control, the constant heading control, the constant speed control and the waypoint behavior control. We finished these control experiments and verified this control system by the lake experiment in June 2015.
收录类别EI ; CPCI(ISTP)
产权排序1
会议录OCEANS 2016 - Shanghai
会议录出版者IEEE
会议录出版地Piscataway, NJ, USA
语种英语
ISSN号0197-7385
ISBN号978-1-4673-9724-7
WOS记录号WOS:000386521800069
源URL[http://ir.sia.cn/handle/173321/18762]  
专题沈阳自动化研究所_海洋信息技术装备中心
推荐引用方式
GB/T 7714
Jia QY,Xu HL,Chen G. The development of a MOOS-IvP-based control system for a small autonomous underwater vehicle[C]. 见:OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016.

入库方式: OAI收割

来源:沈阳自动化研究所

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