论文标题
基于流动机器人在类似Gyre的环境中的控制
Flow-Based Control of Marine Robots in Gyre-Like Environments
论文作者
论文摘要
我们提出了一种基于流量的控制策略，该策略使资源受限的海洋机器人能够在给定范围内周期性的轨道轨迹上巡逻类似Gyre的流动环境。控制器不需要流场的详细模型，而仅依赖于机器人的位置相对于GYRE的中心。这些机器人不是精确地跟踪预定义的轨迹，而是任务保留在两个具有已知周期性的边界轨迹之间。此外，提出的策略利用周围的流场最大程度地减少控制努力。我们证明，提出的策略使机器人能够在满足所需周期性要求的流量中循环。我们的方法在模拟和实验中使用低成本，不足的表面游泳机器人（即Modboat）进行了测试和验证。
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of the flow field and relies only on the robot's location relative to the center of the gyre. Instead of precisely tracking a pre-defined trajectory, the robots are tasked to stay in between two bounding trajectories with known periodicity. Furthermore, the proposed strategy leverages the surrounding flow field to minimize control effort. We prove that the proposed strategy enables robots to cycle in the flow satisfying the desired periodicity requirements. Our method is tested and validated both in simulation and in experiments using a low-cost, underactuated, surface swimming robot, i.e. the Modboat.
