本项目提出一种利用矢量化喷水推进作为驱动方式的微小球形水下机器人。结合矢量化喷水推进以及球形对称结构，能够有效的提高水下机器人的运动灵活性和可操作性，同时能够简化其水动力特性，便于模型的简化计算。全新设计的推进方向可调的喷水推进系统，能够有效地降低水下机器人工作时的噪声以及对周围水底环境的干扰，并可以提高机器人的运动稳定性。同时，该机器人采用空间卫星的姿态调整技术，采用动量交换的方式，利用动量轮系达到从机器人内部对其姿态进行有效的控制，避免了使用平衡翼等造成的运动自由度受限的问题。本项目的主要研究目标为对所开发的微小球形水下机器人进行简化动力学建模，并基于模糊控制和滑模控制等方法针对微小球形水下机器人进行相关的运动控制算法研究和多机器人协调控制研究，以实现球形水下机器人的稳定运动控制和基于声纳通信的多个球形水下机器人的可靠协调作业。

The project proposes a small spherical underwater robot using vectorization water-jet as a way of driving mode. The combination of vectorization jet propulsion and spherically symmetric structure can effectively improve the flexibility and maneuverability of underwater robot movement, also it can simplify its hydrodynamic characteristics, and it is easy to simplified computing of the model. The water-jet propulsion system of the new design is direction adjustable, and it is possible to effectively reduce the working noise of the underwater robot and interference on the surrounding underwater environment, and it can improve the stability of the movement of the robot. At the same time, the robot space satellite attitude adjustment technology, using the momentum exchange momentum wheel system to achieve effective control of its attitude within the robot to avoid the problem of the limited degrees of freedom of movement of the balanced wing caused. The main goal of the project is to simplify the development of small spherical underwater robot dynamics modeling, based on fuzzy control and sliding mode control method for the small spherical underwater robots research on the related motion control algorithm and multi-robot coordination control to achieve spherical underwater robot stable motion control and reliable coordination of operations based on the sonar communication spherical underwater robot.