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Design and Simulation for AUV\'s Discrete Feedback Control of Obstacle Avoidance
Author(s): 
Pages: 1-4
Year: Issue:  3
Journal: Ocean Technology

Abstract: 为了使自主水下航行器(AUV)避碰仿真更接近实际情况,在离散时间系统中考虑海流作用,设计了AUV反馈避碰算法.针对海底探测AUV的运行特点,考虑海流作用,建立AUV垂直平面的状态空间方程.在每一个离散时间节点.利用障碍物高度信息,计算下一时刻AUV的深度目标值.然后利用反馈控制方法对其响应,在仿真时间内不断循环完成避碰仿真.对不同流场下不同高度的矩形障碍物,进行了避碰仿真.仿真结果证明了系统的可行...
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