The invention relates to a bionic gliding robotic dolphin plane path tracking method and system. The method comprises the steps of determining a target tracking point of a bionic gliding robotic dolphin based on a pre-planned path point and the current position of the bionic gliding robotic dolphin underwater; determining advancing thrust and yawing moment of the bionic gliding robotic dolphin based on the target tracking point and the underwater current position of the bionic gliding robotic dolphin; and controlling the bionic gliding robot dolphin to move underwater according to the forwardthrust and the yawing moment, updating the current position of the bionic gliding robotic dolphin underwater to adjust the underwater motion trail of the bionic gliding robotic dolphin, and finally enabling the motion trail to gradually converge to an expected curve formed by pre-planned path points, thereby realizing accurate path tracking of the bionic gliding robotic dolphin.

    本发明涉及一种仿生滑翔机器海豚平面路径跟踪方法及系统,所述路径跟踪方法包括:基于预先规划的路径点以及仿生滑翔机器海豚在水下的当前位置,确定所述仿生滑翔机器海豚的目标跟踪点;基于所述目标跟踪点及仿生滑翔机器海豚在水下的当前位置,确定所述仿生滑翔机器海豚的前进推力和偏航力矩;根据所述前进推力和偏航力矩控制所述仿生滑翔机器海豚在水下运动,更新所述仿生滑翔机器海豚在水下的当前位置,以调整所述仿生滑翔机器海豚在水下的运动轨迹,最终使得该运动轨迹逐渐收敛于预先规划的路径点形成的期望曲线,从而实现对仿生滑翔机器海豚的准确的路径跟踪。


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    Title :

    Bionic gliding robot dolphin plane path tracking method and system


    Additional title:

    仿生滑翔机器海豚平面路径跟踪方法及系统


    Contributors:
    YU JUNZHI (author) / WU ZHENGXING (author) / WANG JIAN (author) / ZHANG PENGFEI (author) / TAN MIN (author)

    Publication date :

    2020-10-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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