CN113985878B - 适用于水面探测无人艇定点自主巡航模式的航行控制方法 - Google Patents
适用于水面探测无人艇定点自主巡航模式的航行控制方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000001514 detection method Methods 0.000 title claims abstract description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000004458 analytical method Methods 0.000 claims description 107
- 238000004891 communication Methods 0.000 claims description 93
- 238000012545 processing Methods 0.000 claims description 44
- 230000002159 abnormal effect Effects 0.000 claims description 41
- 230000008859 change Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 12
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- 230000002708 enhancing effect Effects 0.000 abstract 1
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- 238000010586 diagram Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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CN202111260679.4A CN113985878B (zh) | 2021-10-28 | 2021-10-28 | 适用于水面探测无人艇定点自主巡航模式的航行控制方法 |
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Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103760902A (zh) * | 2014-01-14 | 2014-04-30 | 上海海事大学 | 一种基于模糊控制的无人水面艇直线路径跟踪方法 |
CN103777522A (zh) * | 2014-01-21 | 2014-05-07 | 上海海事大学 | 基于模糊pid的无人水面艇直线跟踪方法 |
CN105785999A (zh) * | 2016-04-27 | 2016-07-20 | 大连海事大学 | 无人艇航向运动控制方法 |
CN108710372A (zh) * | 2018-05-29 | 2018-10-26 | 武汉理工大学 | 一种用于群水面无人艇的自主避碰***及方法 |
CN109460035A (zh) * | 2018-12-18 | 2019-03-12 | 国家***北海海洋工程勘察研究院(青岛环海海洋工程勘察研究院) | 一种无人艇高速状态下的二级自主避障***及避障方法 |
CN113433933A (zh) * | 2021-04-16 | 2021-09-24 | 安徽中科合鼎科技发展有限公司 | 一种智能水面保洁无人船的自主巡航方法 |
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2021
- 2021-10-28 CN CN202111260679.4A patent/CN113985878B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103760902A (zh) * | 2014-01-14 | 2014-04-30 | 上海海事大学 | 一种基于模糊控制的无人水面艇直线路径跟踪方法 |
CN103777522A (zh) * | 2014-01-21 | 2014-05-07 | 上海海事大学 | 基于模糊pid的无人水面艇直线跟踪方法 |
CN105785999A (zh) * | 2016-04-27 | 2016-07-20 | 大连海事大学 | 无人艇航向运动控制方法 |
CN108710372A (zh) * | 2018-05-29 | 2018-10-26 | 武汉理工大学 | 一种用于群水面无人艇的自主避碰***及方法 |
CN109460035A (zh) * | 2018-12-18 | 2019-03-12 | 国家***北海海洋工程勘察研究院(青岛环海海洋工程勘察研究院) | 一种无人艇高速状态下的二级自主避障***及避障方法 |
CN113433933A (zh) * | 2021-04-16 | 2021-09-24 | 安徽中科合鼎科技发展有限公司 | 一种智能水面保洁无人船的自主巡航方法 |
Non-Patent Citations (2)
Title |
---|
基站雷达与AIS引导的水面无人艇遥控***;冯爱国;刘锡祥;吴炜;;雷达科学与技术(01);全文 * |
无人艇通讯导航控制***设计与实现;仲伟波;罗炀;卢道华;冯友兵;黄祥宏;陈超;;中国造船(01);全文 * |
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