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以能量消耗量作为评价函数进行水下机器人运动规划的结果得到随时间变化的目标航向角和理论控制输出 .本文探讨基于神经网络的追踪控制器以实现在运动控制过程中对水下机器人被规划航向角进行追踪控制 ,并探讨实际控制输出与理论控制输出的一致性问题以实现运动过程消耗的操作能量较小 .水下机器人“Twin -Burger”航向角控制的水池实验结果验证了本文所提出方法的有效性和可行性
Taking the energy consumption as the evaluation function, the target heading angle and the theoretical control output are obtained as a result of the underwater robot’s motion planning.This paper discusses the tracking controller based on the neural network in order to realize the underwater robot’s planning Heading angle tracking control and explore the consistency of the actual control output and the theoretical control output in order to achieve the operation of the process of exercise less energy consumption.Underwater robot “TwinBurger” heading angle control of the pool test results verify this paper The effectiveness and feasibility of the method