Wide-Speed Autopilot System for a Swimming Hexapod Robot

摘要: For underwater swimming robots, which use the unconventional method of oscillating flippers for propulsion and control, being able to move stably at various velocities is challenging. This stable motion facilitates navigation, avoids blurring images taken by a camera motion, enables longterm observations specific locations. Previous experiments with our robot Aqua have shown that its autopilot system must adapt control parameters as function speed. The reason dynamics both thrusting vary widely overall velocity robot. In this paper, we present results manually tuning We employed well-known technique called gain scheduling allow operation ranging from 0 40 cm/s, in real open sea conditions. Thus, platform now suitable vision-based navigation low light conditions well extended observation through station-keeping. presented here are also proof-of-concept agile reactive autonomous hovering possible flipper-based system.