摘要
分析了水下考古对潜器的需求,从速度、机动性、与UUV的对比等方面阐述了SPC II(Stabilityfirst,Propulsionsecondary, Controlthethird)机器鱼水下作业的可行性,提出了基于盘旋下潜的机器鱼辅助水下考古实现方法.这种方法在实际考古中得到验证,弥补了SPC- II无法动力悬停的不足,并为下一步的研究提供参考.
This paper briefly analyzes the requirements of underwater archaeology for underwater vehicles, and explains the feasibility of SPC-II robofish to perform underwater task from the point of view of its velocity, maneuverability, comparison with UUV (Unmanned Underwater Vehicle), etc. A scheme for underwater archaeology assisted by SPC-II and based on hovering dive is presented. Experiments validate this scheme. The scheme resolves the problem of SPC-II's lack of dynamic positioning and supplies reference to future research.
出处
《机器人》
EI
CSCD
北大核心
2005年第2期147-151,172,共6页
Robot
关键词
机器鱼
水下考古
无人水下机器人
盘旋下潜
仿生
robofish
underwater archaeology
UUV(Unmanned Underwater Vehicle)
hovering dive
bionics
