Results 81 to 90 of about 2,405 (164)
Laboratory Measurements from a UUV-Mounted Barnacle Turbulence Probe [PDF]
The Barnacle is a new form of marine turbulence sensor, which has been shown to work as well as, or better than, acoustic devices when rigidly-mounted. In order to undertake more ambitious oceanographic measurements, it needs to be mounted on an Unmanned
Williams, Luke +5 more
core +1 more source
Journal of Marine Science and EngineeringTo meet the development requirements of the path planning unit for unmanned underwater vehicles (UUVs), research is conducted on UUV 3D obstacle avoidance path planning algorithms and software design.
Peisen Jin +3 more
doaj +1 more source
Strategy of task allocation in multiple UUV system based on timed Petri net
, 2007 针对多水下机器人(unmanned underwater vehicle,UUV)系统动态任务分配问题展开研究,在对系统的体系结构和任务分配机制进行分析的基础上,利用时延 Petri 网理论对系统的任务分配进行建模,提出了一种新的任务分配策略:群体协调层采用集中式任务分配策略,由主 UUV 将任务实时下达给各从 UUV;监控规划层采用基于适应度的分布式任务分配方式,充分发挥各异构 UUV 自身的智能 ...
康小东, 李一平
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A numerical investigation on interaction effects between two underwater vehicles in close proximity
Journal of Ocean Engineering and ScienceUnderwater vehicles operating in close proximity suffer from significant hydrodynamic interactions, especially when there is a prominent vehicle size disparity.
Zi-Qiang Zheng +3 more
doaj +1 more source
Automated Recovery of the UUV based on the Towed system by the USV
, 2018 With the development of unmanned systems, automated launch and recovery of an Unmanned Underwater Vehicle (UUV) has become a bottleneck technology. Using an Unmanned Surface Vehicle (USV) to recover an UUV has become one of the direction of the future ...
Liu S(刘爽) +5 more
core +1 more source
Unmanned Underwater Vehicle Path Following Based on Improved Soft ActorCritic with Action Smoothing
Journal of Marine Science and EngineeringThe deep reinforcement learning (DRL) method shows great potential in unmanned underwater vehicle (UUV) motion control. Traditional control methods rely on an accurate UUV model.
Bo Zhong +6 more
doaj +1 more source
Design Features of Unmanned Underwater Vehicle (UUV)
Main principles about UUVs design and missions are described in the paper. The hull shape of UUV should be solved firstly in UUV overall projecting and directly impacts to energy consumption, mobility, deep range, hydraulic resistance and navigation. The
Carjova, Kristīne +1 more
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Research on the dynamics characteristics of USV self-recovering UUV
, 2020 本文针对USV自主回收UUV过程，采用计算流体力学（Computational Fluid Dynamics, CFD）、结构力学、弹性力学、碰撞理论等方法，研究分析USV分别采用拖曳式回收系统和对接杆式回收系统在回收UUV过程中的动力学问题。具体研究内容如下：（1）针对目前有人船只回收UUV方式存在回收效率低、自动化水平低等问题，本文结合目前最常用的水下对接形式，以及空中加油方式，提出两类可用于USV自主回收UUV系统，一种是可调节自身姿态的水下拖曳式回收系统，另一种是对接杆式回收系统 ...
孟令帅
core
Research on obstacle avoidance of UUV formation based on fuzzy control
, 2022 针对水下复杂环境中UUV编队避障问题，提出一种基于模糊控制的UUV编队避障控制方法。在单UUV避障的基础上，根据雁群编队行为和避障机制，设计基于模糊控制的编队拆分避障算法，考虑不同通信条件进行仿真，结果表明所提方法能够有效解决UUV编队在障碍物环境下队形控制及避障问题。考虑到工程实际，针对通信延迟进行了处理，并通过仿真验证处理方法的有效性。最后以典型狭长极窄障碍物环境进行了湖上试验。
杨芳 +4 more
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Research on leader-following formation control for multi-UUV
, 2007 本文主要研究基于跟随领航者法的多 UUV(unmanned underwater vehicle)队形控制。在 UUV 载体坐标系下建立系统的运动学模型,该模型是对笛卡尔坐标系下的运动学模型的改进,避免了极坐标系下奇异点的出现。该模型经过输入输出反馈线性化,获得稳定的队形控制器。同时,为了缩小队形控制律中的控制参数的调整范围,本文提出了辅助算法,在此基础上分析参数的有效范围。将队形控制律在多 UUV 数字仿真平台上验证 ...
侯瑞丽, 李一平
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