自治水下机器人全自由度仿真

由于自治水下机器人技术的复杂性 ,系统仿真技术变得越来越重要。系统地分析了自治水下机器人 (AUV ,AutonomousUnderwaterVehicle)的运动模型和空间运动方程 ,运用MATLAB下的SIMULINK ,设计了自治水下机器人的全自由度仿真工具箱 ,包括机器人本体运动、位姿求解和坐标系转换等多个部分 ,可以方便地进行控制方法的全自由度的仿真。

Because of complexity of AUVs technology, system simulation became more important than before. The dynamics of AUVs system was analyzed and based on SIMULINK of MATLAB, a toolbox for AUVs control simulation was designed. The toolbox include dynamics of AUVs, state resolution and coordinate translation etc. So the simulation of the control of AUVs will be more conveniently.