Research on Navigation and Crawl Underwater Unmanned Vehicle Design and CPG-based Motion Mode Switching method

In order to improve the efficiency and quality of underwater operations, this paper proposes and designs a new underwater robot, the navigation and crawl underwater unmanned vehicle (NCUUV), it has two motion modes: swimming and crawling. The upper controller selects the CPG network in the middle co...

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Bibliographic Details
Published in2021 33rd Chinese Control and Decision Conference (CCDC) pp. 4391 - 4396
Main Authors Yan, Zheping, Yang, Haoyu, Zhang, Wei, Gong, Qingshuo, Lin, Fantai, Wang, Yanbin, Tang, Maowen
Format Conference Proceeding
LanguageEnglish
Published IEEE 22.05.2021
Subjects
Acoustics
Control systems
CPG
crawling
motion mode switching
Navigation
Process control
swimming
Switches
underwater robot
Unmanned underwater vehicles
Vibrations
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Summary:In order to improve the efficiency and quality of underwater operations, this paper proposes and designs a new underwater robot, the navigation and crawl underwater unmanned vehicle (NCUUV), it has two motion modes: swimming and crawling. The upper controller selects the CPG network in the middle controller according to the height information by the acoustic rangefinder. The middle controller includes two CPG networks, which control the swimming and crawling of NCUUV respectively. The CPG network selected by the upper controller gradually vibrates, and the vibration of the unselected CPG network is gradually suppressed, thereby completing the smooth switching between swimming and crawling. The experimental result shows that this control mechanism of motion mode switching can enable NCUUV to stably realize motion mode switching and the switching process is smooth and reliable.
ISSN:1948-9447
DOI:10.1109/CCDC52312.2021.9602419