Design and Application of a Small ROV Control System Based on ArduSub System
文献类型：会议论文
| 作者 | Zhao YM(赵宇明)1,2 ; He Z(何震)1,2; Li GL(李格伦)1,2; Wang YB(王亚彪)1,2; Li ZG(李智刚)1,2
|
| 出版日期 | 2020 |
| 会议日期 | October 14-16, 2020 |
| 会议地点 | Weihai, China |
| 关键词 | ArduSub, Pixhawk ROV Extended Kalman filter algorithm Double closed-loop PID |
| 页码 | 585-589 |
| 英文摘要 | A small ROV was designed and developed for its wide application and low cost, ArduSub system was used to construct ROV control system to realize ROV motion and attitude control. Equipped with componets such as cameras, underwater lights, sonar and manipulator, ROV has the characteristics of flexible movement, strong anti-current ability, and underwater observation and operation capabilities. Structure and control system composition of ROV and the attitude control algorithm used is introduced in the paper. Through the pool test, the results showed that the use of ArduSub system to build ROV control system makes the ROV has better motion performance and attitude maintain ability, shorten the ROV development cycle and reduce cost. |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2020 IEEE 2nd International Conference on Civil Aviation Safety and Information Technology, ICCASIT 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-9948-1 |
| WOS记录号 | WOS:000662085600118 |
| 源URL | [http://ir.sia.cn/handle/173321/28702]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Zhao YM(赵宇明) |
| 作者单位 | 1.Shenyang Institute of Automation, Chinese Academy of Sciences, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China |
| 推荐引用方式 GB/T 7714 | Zhao YM,He Z,Li GL,et al. Design and Application of a Small ROV Control System Based on ArduSub System[C]. 见:. Weihai, China. October 14-16, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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