Motion Mode Switching of Navigation and Crawl Underwater Unmanned Vehicle Based on Star-shaped CPG

Zheping Yan, Haoyu Yang, Wei Zhang, Qingshuo Gong
{"title":"Motion Mode Switching of Navigation and Crawl Underwater Unmanned Vehicle Based on Star-shaped CPG","authors":"Zheping Yan, Haoyu Yang, Wei Zhang, Qingshuo Gong","doi":"10.1109/3M-NANO56083.2022.9941560","DOIUrl":null,"url":null,"abstract":"In order to improve the operational efficiency and quality of underwater robots, this paper proposes a new type of underwater robot, the navigation and crawl underwater unmanned vehicle (NCUUV), and designs a control strategy for it. NCUUV has two motion modes: swimming and crawling, and the motion controller includes the upper controller and the lower CPG network. The CPG network is a star-shaped structure composed of seven Hopf oscillators, which have two configurations: triangular and hexagonal, which control the swimming and crawling of the NCUUV, respectively. The upper controller adjusts the configuration of the CPG according to the movement needs of the NCUUV, thereby completing the free switch between swimming and crawling. The simulation results show that the motion mode switching control mechanism can make the NCUUV realize the motion mode switching stably, and the switching process is stable and reliable.","PeriodicalId":370631,"journal":{"name":"2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/3M-NANO56083.2022.9941560","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

Abstract

In order to improve the operational efficiency and quality of underwater robots, this paper proposes a new type of underwater robot, the navigation and crawl underwater unmanned vehicle (NCUUV), and designs a control strategy for it. NCUUV has two motion modes: swimming and crawling, and the motion controller includes the upper controller and the lower CPG network. The CPG network is a star-shaped structure composed of seven Hopf oscillators, which have two configurations: triangular and hexagonal, which control the swimming and crawling of the NCUUV, respectively. The upper controller adjusts the configuration of the CPG according to the movement needs of the NCUUV, thereby completing the free switch between swimming and crawling. The simulation results show that the motion mode switching control mechanism can make the NCUUV realize the motion mode switching stably, and the switching process is stable and reliable.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于星形CPG的导航与爬行水下无人潜航器运动模式切换
为了提高水下机器人的作业效率和作业质量,提出了一种新型的水下机器人——导航爬行水下无人潜航器(NCUUV),并设计了其控制策略。NCUUV具有游泳和爬行两种运动模式,运动控制器包括上控制器和下CPG网络。CPG网络是由7个Hopf振子组成的星形结构,它们有三角形和六边形两种构型,分别控制NCUUV的游动和爬行。上位控制器根据NCUUV的运动需要调整CPG的配置,从而完成游动与爬行的自由切换。仿真结果表明,该运动模式切换控制机构能使NCUUV稳定地实现运动模式切换,且切换过程稳定可靠。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Effects of Buffer Solution and Concentration on AFM Imaging of DNA Molecules Electrochemical Dissolution Behavior of GH4169 and K418 Superalloy in NaNO3 Solution at Low Current Density A Stiffness-tunable MEMS Accelerometer with In-operation Drift Compensation Kinematic Calibration in Local Assembly Space of a Six-axis Industrial Robot for Precise Assembly Design and Analysis of Novel Millimetre-level Compliant Constant-force Mechanism
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1