深海多金屬結(jié)核集礦機(jī)水下定位與路徑規(guī)劃算法研究.pdf

1、中南大學(xué)碩士學(xué)位論文深海多金屬結(jié)核集礦機(jī)水下定位與路徑規(guī)劃算法研究姓名：劉海瀅申請學(xué)位級(jí)別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：王隨平20040920中南大學(xué)碩士學(xué)位論文摘要Abstract’rhisdissertationisfocused0nmerese砌chOfunderwateracousticlocatmgandpamplannillgfordeep—seamulti—metalnucleuscollector，whichm

2、cludes“vopansofunderwateracoustic10ca_tillgsyStemresearcha11dpamp1鋤mgalgorimmdesignThewofkingpurposeistisetlleunder—water10catingprecisionaIldresearchreaSonablep礎(chǔ)pla姍ingalgoritllmInmefirstpIace，tlledissercationsmmarizest

3、hemodelcollectorandequippedCompactPCIcon咖lsystemTheW0rkjngprocessanddesignparametersofthemodelcollectorareaJlalyzedFortlledigitalcoIrlpassa11db嘶erdetectingsonarcl岫gingtopathpl礎(chǔ)gresearch，theirwofkingp面cipleandreleV姐talgor

4、immarepresemedparticulady私mebasisofthefollowingstudyingTheunderwateracollstic10catingsystemsarestudiedByerroranalyzingofⅡlelocatingalgorithmusedonnlemodelcollector，medissenationputsfo朋ardsomelocatingmemodsaIld“g面t111llSw

5、ithhi曲er10catmgprecisionnelayeredmammodelof吼derwatervelocityofsoundiscreateda11dthedouble—hyperboloidcrosslocatingf0冊u(píng)laisreVisedbynumericaliterationThesimulatiIlgcalculationreSuhsshowtheprecisionincreasingValidit)roftll

6、eadoptedmemod0nthebasisofsymhesizingsortsofpathpl鋤ingalgorithmsappliedmainlytodayandconside渤g廿1ecoIlector’stmits，thedissertationd～idesmepa【hp1砌r喀algorimmdesignwod【smto伽opartsTheset—rolnefollowingalg耐吐Ⅱnandselfle踟mgb)，pas

7、salgorithInbasedonfIlz巧neuralne咐orkaredesigIlednemIesstockisa由tlStedaccordmgtosurroundedobstaclesandmeproblemofcompleXidealpathsearchingwimoutmll—scaleinf0肋ationisavoidedKEYWoI①S：Multi—metalNucleusCollector，PatIlPlannin舀