水下移动作业机器人的自主感知、导航与控制

本项目以水下目标的抓取作业为研究背景，深入分析复杂紊流、植被覆盖、岩礁散布、弱光照的水下环境中水下移动作业机器人环境自主感知、定位与导航、运动控制、智能作业控制，研究系统设计、环境感知、运动控制、智能作业中面临的不确定性、非线性、动态、冗余、扰动、耦合等基础科学问题；从机构、感知、导航、控制与计算智能等多路径并行、交叉、协同推进，形成较为系统的水下移动作业机器人设计、环境自主感知与导航、运动控制、水下智能作业控制的理论和方法，研制新型水下移动仿生机器人和柔顺作业臂系统，并对所提理论、方法进行实验验证，为水下机器人感知、导航与控制的发展奠定基础，促进其在环境感知、适应性、机动性、鲁棒性、稳定性、学习控制和作业精度等方面能力和水平的快速提升。

This project focuses on machine grasping of underwater targets. Environment perception, positioning and navigation, motion control, intelligent operation of the underwater mobile robot will be further analyzed in the underwater environment with weak light, complex turbulence and distribution of plants and rocks. The basic issues on uncertainty, nonlinearity, dynamics, redundancy, disturbance, and coupling would be studied for system design, environment perception, motion control and intelligent operation of the underwater robots. Based on the parallel and interdisciplinarity of the researches of mechanism, perception, navigation, control and computational intelligence, the theories and methods of system design, environmental perception and navigation, motion control and underwater intelligent operation for the underwater robots will be obtained. Moreover, the mobile biomimetic underwater robot with a flexible manipulator will be developed to validate the proposed methods. The project would make progress in perception, navigation and control of underwater robots in complex underwater environment, and help to rapidly improve the robotic performance as environment perception, adaptability, maneuverability, robustness, stability, learning control and accuracy.